Surgical stapler with independently actuated drivers to provide varying staple heights

ABSTRACT

An apparatus includes a body assembly, a shaft assembly, and an end effector. The shaft assembly includes an outer sheath and a motorized driving mechanism. The body assembly is configured to actuate the driving mechanism. The end effector includes a staple deck, an anvil, a first staple driver, and a second staple driver. The first staple driver is configured to fire a first annular array of staples of the plurality of staples against the anvil to deform the first annular array of staples at a first compressed staple height. The second staple driver is configured to fire a second annular array of staples of the plurality of staples against the anvil to deform the second annular array of staples at a second compressed staple height independent of the first staple driver. The first compressed staple height and the second compressed staple height are different.

BACKGROUND

In some settings, endoscopic surgical instruments may be preferred overtraditional open surgical devices since a smaller incision may reducethe post-operative recovery time and complications. Consequently, someendoscopic surgical instruments may be suitable for placement of adistal end effector at a desired surgical site through the cannula of atrocar. These distal end effectors may engage tissue in various ways toachieve a diagnostic or therapeutic effect (e.g., endocutter, grasper,cutter, stapler, clip applier, access device, drug/gene therapy deliverydevice, and energy delivery device using ultrasonic vibration, RF,laser, etc.). Endoscopic surgical instruments may include a shaftbetween the end effector and a handle portion, which is manipulated bythe clinician. Such a shaft may enable insertion to a desired depth androtation about the longitudinal axis of the shaft, thereby facilitatingpositioning of the end effector within the patient. Positioning of anend effector may be further facilitated through inclusion of one or morearticulation joints or features, enabling the end effector to beselectively articulated or otherwise deflected relative to thelongitudinal axis of the shaft.

Examples of endoscopic surgical instruments include surgical staplers.Some such staplers are operable to clamp down on layers of tissue, cutthrough the clamped layers of tissue, and drive staples through thelayers of tissue to substantially seal the severed layers of tissuetogether near the severed ends of the tissue layers. Merely exemplarysurgical staplers are disclosed in U.S. Pat. No. 7,000,818, entitled“Surgical Stapling Instrument Having Separate Distinct Closing andFiring Systems,” issued Feb. 21, 2006; U.S. Pat. No. 7,380,696, entitled“Articulating Surgical Stapling Instrument Incorporating a Two-PieceE-Beam Firing Mechanism,” issued Jun. 3, 2008; U.S. Pat. No. 7,404,508,entitled “Surgical Stapling and Cutting Device,” issued Jul. 29, 2008;U.S. Pat. No. 7,434,715, entitled “Surgical Stapling Instrument HavingMultistroke Firing with Opening Lockout,” issued Oct. 14, 2008; U.S.Pat. No. 7,721,930, entitled “Disposable Cartridge with Adhesive for Usewith a Stapling Device,” issued May 25, 2010; U.S. Pat. No. 8,408,439,entitled “Surgical Stapling Instrument with An Articulatable EndEffector,” issued Apr. 2, 2013; and U.S. Pat. No. 8,453,914, entitled“Motor-Driven Surgical Cutting Instrument with Electric ActuatorDirectional Control Assembly,” issued Jun. 4, 2013. The disclosure ofeach of the above-cited U.S. patents is incorporated by referenceherein.

While the surgical staplers referred to above are described as beingused in endoscopic procedures, such surgical staplers may also be usedin open procedures and/or other non-endoscopic procedures. By way ofexample only, a surgical stapler may be inserted through a thoracotomy,and thereby between a patient's ribs, to reach one or more organs in athoracic surgical procedure that does not use a trocar as a conduit forthe stapler. Such procedures may include the use of the stapler to severand close a vessel leading to a lung. For instance, the vessels leadingto an organ may be severed and closed by a stapler before removal of theorgan from the thoracic cavity. Of course, surgical staplers may be usedin various other settings and procedures.

Examples of surgical staplers that may be particularly suited or usethrough a thoracotomy are disclosed in U.S. Patent ApplicationPublication No. 2014/0243801, entitled “Surgical Instrument End EffectorArticulation Drive with Pinion and Opposing Racks,” published on Aug.28, 2014; U.S. Patent Application Publication No. 2014/0239041, entitled“Lockout Feature for Movable Cutting Member of Surgical Instrument,”Published Aug. 28, 2014; U.S. Patent Application Publication No.2014/0239038, entitled “Surgical Instrument with Multi-Diameter Shaft,”published Aug. 28, 2014; and U.S. Patent Application Publication No.2014/0239044, entitled “Installation Features for Surgical InstrumentEnd Effector Cartridge,” published Aug. 28, 2014. The disclosure of eachof the above-cited U.S. patent applications is incorporated by referenceherein.

While several surgical instruments and systems have been made and used,it is believed that no one prior to the inventors has made or used theinvention described in the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims which particularly pointout and distinctly claim this technology, it is believed this technologywill be better understood from the following description of certainexamples taken in conjunction with the accompanying drawings, in whichlike reference numerals identify the same elements and in which:

FIG. 1 depicts a perspective view of an exemplary surgical instrumentincluding an interchangeable shaft assembly and a handle assembly;

FIG. 2 depicts a perspective view of the instrument of FIG. 1, showingthe shaft assembly disassembled from the handle assembly of theinstrument;

FIG. 3 depicts a partial perspective view of the instrument of FIG. 1,showing the shaft assembly disassembled from the handle assembly of theinstrument;

FIG. 4A depicts a side elevational view of a proximal portion of theinstrument of FIG. 1, with a closure trigger in a first pivotal positionand a firing trigger in a first pivotal position;

FIG. 4B depicts a side elevational view of a proximal portion of theinstrument of FIG. 1, with the closure trigger in a second pivotalposition and the firing trigger in a second pivotal position;

FIG. 4C depicts a side elevational view of a proximal portion of theinstrument of FIG. 1, with the closure trigger in the second pivotalposition and the firing trigger in a third pivotal position;

FIG. 5 depicts a perspective view of a proximal portion of theinstrument of FIG. 1, with a battery removed from the handle assembly;

FIG. 6 depicts a side elevational view of an array of alternative shaftassemblies that may be used with the instrument of FIG. 1;

FIG. 7 depicts a cross-sectional view of the handle assembly of FIG. 1,taken along line 7-7 of FIG. 2;

FIG. 8 depicts a perspective view of an interchangeable circular staplershaft assembly that may be used with the handle assembly of FIG. 1 inreplacement of the interchangeable shaft assembly of FIG. 1;

FIG. 9 depicts another perspective view of the interchangeable circularstapler shaft assembly of FIG. 8;

FIG. 10 depicts a perspective view of an anvil assembly of theinterchangeable circular stapler shaft assembly of FIG. 8;

FIG. 11 depicts a perspective view of the distal end of a shaft assemblyand an end effector of the interchangeable circular stapler shaftassembly of FIG. 8;

FIG. 12 depicts an exploded side view of the interchangeable circularstapler shaft assembly of FIG. 8;

FIG. 13 depicts an exploded perspective view of the end effector of FIG.11 and the distal end of the shaft assembly of FIG. 11;

FIG. 14 depicts a top plan view of a deck member of the end effector ofFIG. 11;

FIG. 15 depicts a perspective view of the deck member of FIG. 14;

FIG. 16 depicts an exploded perspective view of a stapling and cuttingassembly of the end effector of FIG. 11;

FIG. 17 depicts a perspective view of an outer staple driver of thestapling and cutting assembly of FIG. 16;

FIG. 18 depicts a perspective view of an inner staple driver assembly ofthe stapling and cutting assembly of FIG. 16;

FIG. 19 depicts an exploded perspective view of the inner staple driverassembly of FIG. 18;

FIG. 20 depicts a perspective view of a blade assembly of the staplingand cutting assembly of FIG. 16;

FIG. 21 depicts an exploded perspective view of the blade assembly ofFIG. 20;

FIG. 22 depicts a perspective view of the distal end of the shaftassembly of FIG. 11;

FIG. 23A depicts a cross-sectional side view of an outer sheath of theshaft assembly of FIG. 11 aligned to couple with a distal housing of theshaft assembly, taken along line 23-23 of FIG. 22;

FIG. 23B depicts a cross-sectional side view of the outer sheath of FIG.23A coupled with the distal housing of FIG. 23A, taken along line 23-23of FIG. 22;

FIG. 24 depicts a top plan view of the distal housing of FIG. 23A;

FIG. 25 depicts a perspective view of the interchangeable circularstapler shaft assembly of FIG. 8, where the end effector of FIG. 11, theouter sheath of FIG. 23A, and the distal housing of FIG. 23A are omittedfor purposes of clarity;

FIG. 26 depicts a perspective view a proximal housing of theinterchangeable circular stapler attachment and a proximal end of theshaft assembly of FIG. 11, where the outer sheath of FIG. 23A is omittedfor purposes of clarity;

FIG. 27 depicts an exploded perspective view of the interchangeablecircular stapler shaft assembly of FIG. 8 where the end effector of FIG.11, the outer sheath of FIG. 23A, and the distal housing of FIG. 23A areomitted for purposes of clarity;

FIG. 28 depicts a perspective view of a clutch assembly of theinterchangeable circular stapler shaft assembly of FIG. 8;

FIG. 29 depicts an exploded perspective view of the clutch assembly ofFIG. 28;

FIG. 30 depicts a perspective view of a translating shuttle of theclutch assembly of FIG. 28;

FIG. 31 depicts another perspective view of the translating shuttle ofFIG. 30;

FIG. 32 depicts a perspective view of the translating shuttle of FIG. 30coupled with a translating tube of the clutch assembly of FIG. 28;

FIG. 33 depicts an exploded perspective view of a rotational shifter ofthe clutch assembly of FIG. 28, an intermediate firing shaft of theshaft assembly of FIG. 11, and a drive arm of the shaft assembly;

FIG. 34 depicts a perspective view of the rotational shifter of FIG. 33;

FIG. 35 depicts another perspective view of the rotational shifter ofFIG. 33;

FIG. 36A depicts a cross-sectional perspective view of the clutchassembly of FIG. 28, taken along line 36-36 of FIG. 28, where therotational shifter of FIG. 33 is engaged with the drive arm of FIG. 33,while the intermediate firing shaft of FIG. 33 is in a firstlongitudinal position;

FIG. 36B depicts a cross-sectional perspective view of the clutchassembly of FIG. 28, taken along line 36-36 of FIG. 28, where therotational shifter of FIG. 33 is disengaged with the drive arm of FIG.33, while the intermediate firing shaft of FIG. 33 is in the firstlongitudinal position;

FIG. 36C depicts a cross-sectional perspective view of the clutchassembly of FIG. 28, taken along line 36-36 of FIG. 28, where therotational shifter of FIG. 33 is disengaged with the drive arm of FIG.33, while the intermediate firing shaft of FIG. 33 is in a secondlongitudinal position;

FIG. 37 depicts a perspective view of a trocar assembly of the shaftassembly of FIG. 11;

FIG. 38 depicts a perspective view of a longitudinal locking assembly ofthe trocar assembly of FIG. 37;

FIG. 39 depicts an exploded perspective view of the longitudinal lockingassembly of FIG. 38;

FIG. 40 depicts a perspective view of a band coupling body of thelongitudinal locking assembly of FIG. 38;

FIG. 41 depicts a bottom plan view of the band coupling body of FIG. 40;

FIG. 42 depicts a perspective view of a fixed body of the longitudinallocking assembly of FIG. 38;

FIG. 43 depicts another perspective view of the fixed body of FIG. 42;

FIG. 44A depicts a cross-sectional view of the longitudinal lockingassembly of FIG. 38, taken along line 44-44 of FIG. 38, where thelongitudinal locking assembly is in a locked configuration and the drivearm of FIG. 33 is in a first longitudinal position;

FIG. 44B depicts a cross-sectional view of the longitudinal lockingassembly of FIG. 38, taken along line 44-44 of FIG. 38, where thelongitudinal locking assembly is in an unlocked configuration and thedrive arm of FIG. 33 is in a second longitudinal position;

FIG. 44C depicts a cross-sectional view of the longitudinal lockingassembly of FIG. 38, taken along line 44-44 of FIG. 38, where thelongitudinal locking assembly is in the unlocked configuration and thedrive arm of FIG. 33 is in a third longitudinal position;

FIG. 44D depicts a cross-sectional view of the longitudinal lockingassembly of FIG. 38, taken along line 44-44 of FIG. 38, where thelongitudinal locking assembly is in the locked configuration and thedrive arm of FIG. 33 is in the third longitudinal position;

FIG. 45 depicts a perspective view of a reciprocating drive assembly ofthe shaft assembly of FIG. 11;

FIG. 46 depicts another perspective view of the reciprocating driveassembly of FIG. 45;

FIG. 47 depicts a bottom plan view of a portion of the reciprocatingdrive assembly of FIG. 45;

FIG. 48 depicts an exploded perspective view of a distal end of thereciprocating drive assembly of FIG. 45;

FIG. 49A depicts side elevation view of a portion of the anvil assemblyof FIG. 10 inserted within one anatomical passageway of a patient, and aportion of the shaft assembly of FIG. 11 inserted within a secondanatomical passageway, where the shaft assembly and the anvil assemblyare aligned in preparation of coupling with each other;

FIG. 49B depicts a side elevation view of a portion of the anvilassembly of FIG. 10 inserted within one anatomical passageway of apatient, and a portion of the shaft assembly of FIG. 11 inserted withina second anatomical passageway, where the trocar assembly of FIG. 37 isattached to the anvil assembly, and where the anvil assembly is in afirst position;

FIG. 49C depicts a side elevation view of a portion of the anvilassembly of FIG. 10 inserted within one anatomical passageway of apatient, and a portion of the shaft assembly of FIG. 11 inserted withina second anatomical passageway, where the trocar assembly of FIG. 37 isattached to the anvil assembly, and where the anvil assembly is moved toa second position to capture portions of the first anatomical passagewayand the second anatomical passageway between the anvil assembly and theshaft assembly;

FIG. 50A depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where a driving member of thereciprocating drive assembly of FIG. 45 is in a first rotationalposition aligned with the outer staple driver of FIG. 17, where theouter staple driver is in a pre-fired position;

FIG. 50B depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is inthe first rotational position aligned with the outer staple driver ofFIG. 17, where the outer staple driver is in a fired position as a firstdistal position;

FIG. 50C depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is ina second rotational position aligned with the inner staple driverassembly of FIG. 18, where the inner staple driver assembly is in apre-fired position;

FIG. 50D depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is inthe second rotational position aligned with the inner staple driverassembly of FIG. 18, where the inner staple driver assembly is in afired position at a first distal position;

FIG. 50E depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is ina third rotational position aligned with the blade assembly of FIG. 20,where the blade assembly is in a pre-fired position;

FIG. 50F depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is inthe third rotational position aligned with the blade assembly of FIG.20, where the blade assembly is in a fired position;

FIG. 50G depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is inthe third rotational position aligned with the blade assembly of FIG.20, where the blade assembly is in a post-fired position;

FIG. 51A depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly in preparation to form an anastomosis;

FIG. 51B depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly, where the outer staple driver of FIG. 17 is in the firedposition;

FIG. 51C depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly, where the outer staple driver of FIG. 17 has drivenstaples through the first and second anatomical passageways to help forman anastomosis;

FIG. 51D depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly, where the inner staple driver assembly of FIG. 18 is inthe fired position;

FIG. 51E depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly, where the inner staple driver assembly of FIG. 18 hasdriven staples through the first and second anatomical passageways tohelp form an anastomosis;

FIG. 51F depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly, where the blade assembly of FIG. 20 is in the firedposition;

FIG. 51G depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where tissue from the first and secondanatomical passageways are captured between the anvil assembly and theshaft assembly, where the blade assembly of FIG. 20 severed and removedtissue within the interior of the driven staples of FIG. 51C and FIG.51E;

FIG. 51H depicts a cross-sectional side view of the anvil assembly ofFIG. 10, taken along line 51-51 of FIG. 9, with the anvil assemblyinserted within one anatomical passageway of a patient, and a portion ofthe shaft assembly of FIG. 11 inserted within a second anatomicalpassageway of a patient, where the anvil assembly is actuated distallyfrom the newly stapled and severed tissue;

FIG. 51I depicts a cross sectional side view of the newly formedanatomical passageway, with the anvil assembly of FIG. 10 and the shaftassembly of FIG. 11 removed, leaving a newly formed anastomosis betweenthe first anatomical passageway of a patient and the second anatomicalpassageway of a patient;

FIG. 52A depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where a driving member of thereciprocating drive assembly of FIG. 45 is in a first rotationalposition aligned with the outer staple driver of FIG. 17, where theouter staple driver is in a pre-fired position;

FIG. 52B depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where a driving member of thereciprocating drive assembly of FIG. 45 is in a first rotationalposition aligned with the outer staple driver of FIG. 17, where theouter staple driver is in a fired position at a second distal position;

FIG. 53A depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where a driving member of thereciprocating drive assembly of FIG. 45 is in a first rotationalposition aligned with the outer staple driver of FIG. 17, where theouter staple driver is in a pre-fired position;

FIG. 53B depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where a driving member of thereciprocating drive assembly of FIG. 45 is in a first rotationalposition aligned with the outer staple driver of FIG. 17, where theouter staple driver is in a fired position at a third distal position;

FIG. 54A depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is ina second rotational position aligned with the inner staple driverassembly of FIG. 18, where the inner staple driver assembly is in apre-fired position;

FIG. 54B depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is inthe second rotational position aligned with the inner staple driverassembly of FIG. 18, where the inner staple driver assembly is in afired position at a second distal position;

FIG. 55A depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is ina second rotational position aligned with the inner staple driverassembly of FIG. 18, where the inner staple driver assembly is in apre-fired position;

FIG. 55B depicts an elevational side view of a portion of the shaftassembly of FIG. 11 and the end effector of FIG. 11, with certainportions omitted for clarity, where the driving member of FIG. 50A is inthe second rotational position aligned with the inner staple driverassembly of FIG. 18, where the inner staple driver assembly is in afired position at a third distal position;

FIG. 56 depicts an elevational side view of either the outer staplerdriver assembly of FIG. 17 or the inner staple driver assembly of FIG.18 in a pre-fired position, where tissue from a first and secondanatomical passageway of a patient are captured between the anvilassembly and the shaft assembly, where either the inner staple driveassembly or the outer staple driver assembly is in the pre-firedposition;

FIG. 57 depicts, an elevational side view of either the outer staplerdriver assembly of FIG. 17 or the inner staple driver assembly of FIG.18 in a pre-fired position, where tissue from a first and secondanatomical passageway of a patient are captured between the anvilassembly and the shaft assembly, where either the inner staple driveassembly of the outer staple driver assembly is in the first distalposition shown in FIG. 50B or 50D;

FIG. 58 depicts, an elevational side view of either the outer staplerdriver assembly of FIG. 17 or the inner staple driver assembly of FIG.18 in a pre-fired position, where tissue from a first and secondanatomical passageway of a patient are captured between the anvilassembly and the shaft assembly, where either the inner staple driveassembly of the outer staple driver assembly is in the second distalposition shown in FIG. 52B or 54B;

FIG. 59 depicts, an elevational side view of either the outer staplerdriver assembly of FIG. 17 or the inner staple driver assembly of FIG.18 in a pre-fired position, where tissue from a first and secondanatomical passageway of a patient are captured between the anvilassembly and the shaft assembly, where either the inner staple driveassembly of the outer staple driver assembly is in the third distalposition shown in FIG. 53B or 55B;

FIG. 60 depicts a flowchart of an exemplary firing process that may beused by the handle assembly of FIG. 1 in combination with theinterchangeable circular stapler shaft assembly of FIG. 8, where avariable staple compression height may be selected;

FIG. 61A depicts an elevational side view of a portion of an alternativeshaft assembly, with certain portions omitted for clarity, where thedriving member of FIG. 50A is in a first rotational position alignedwith the outer staple driver of FIG. 17, where the outer staple driveris in a pre-fired position;

FIG. 61B depicts an elevational side view of a portion of the shaftassembly of FIG. 61A, with certain portions omitted for clarity, wherethe driving member of FIG. 50A is in the first rotational positionaligned with the outer staple driver of FIG. 17, where the outer stapledriver is in a fired position;

FIG. 61C depicts an elevational side view of a portion of the shaftassembly of FIG. 61A, with certain portions omitted for clarity, wherethe driving member of FIG. 50A is in a second rotational positionaligned with the inner staple driver assembly of FIG. 18, where theinner staple driver assembly is in a pre-fired position;

FIG. 61D depicts an elevational side view of a portion of the shaftassembly of FIG. 61A, with certain portions omitted for clarity, wherethe driving member of FIG. 50A is in the second rotational positionaligned with the inner staple driver assembly of FIG. 18, where theinner staple driver assembly is in a fired position;

FIG. 61E depicts an elevational side view of a portion of the shaftassembly of FIG. 61A, with certain portions omitted for clarity, wherethe driving member of FIG. 50A is in a third rotational position alignedwith the blade assembly of FIG. 20, where the blade assembly is in apre-fired position;

FIG. 62A depicts a cross-sectional side view of an exemplary alternativecircular stapler end effector, with a staple driver and a deck member ina proximal position; and

FIG. 62B depicts a cross-sectional side view of the end effector of FIG.62A, with the staple driver and deck member in a distal position.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the technology may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presenttechnology, and together with the description explain the principles ofthe technology; it being understood, however, that this technology isnot limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the technology shouldnot be used to limit its scope. Other examples, features, aspects,embodiments, and advantages of the technology will become apparent tothose skilled in the art from the following description, which is by wayof illustration, one of the best modes contemplated for carrying out thetechnology. As will be realized, the technology described herein iscapable of other different and obvious aspects, all without departingfrom the technology. Accordingly, the drawings and descriptions shouldbe regarded as illustrative in nature and not restrictive.

It is further understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Thefollowing-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims.

For clarity of disclosure, the terms “proximal” and “distal” are definedherein relative to an operator or other operator grasping a surgicalinstrument having a distal surgical end effector. The term “proximal”refers the position of an element closer to the operator or otheroperator and the term “distal” refers to the position of an elementcloser to the surgical end effector of the surgical instrument andfurther away from the operator or other operator. Although the surgicalinstruments described herein comprise motorized implements for cuttingand stapling, it will be appreciated that the configurations describedherein may be used with any suitable type of electrical surgicalinstrument such as cutters, claspers, staplers, RF cutter/coagulators,ultrasonic cutter/coagulators, and laser cutter/coagulators, forexample.

I. Overview of Exemplary Surgical Instrument

FIG. 1 depicts a motor-driven surgical cutting and fastening instrument(10) that includes a handle assembly (11) and a removable shaft assembly(16). In some versions, handle assembly (11) and shaft assembly (16) areeach provided a single-use, disposable components. In some otherversions, handle assembly (11) and shaft assembly (16) are each providedas reusable components. As another merely illustrative example, shaftassembly (16) may be provided as a single-use, disposable componentwhile handle assembly is provided as a reusable component. Varioussuitable ways in which reusable versions of handle assembly (11) andshaft assembly (16) may be suitable reprocessed for reuse will beapparent to those of ordinary skill in the art in view of the teachingsherein.

Handle assembly (11) of the present example includes a housing (12), aclosure trigger (32), and a firing trigger (33). At least a portion ofhousing (12) forms a handle (14) that is configured to be grasped,manipulated and actuated by the clinician. Housing (12) is configuredfor operative attachment to shaft assembly (16), which has a surgicalend effector (18) operatively coupled thereto. As described below, endeffector (18) is configured to perform one or more surgical tasks orprocedures. In particular, end effector (18) of the example shown inFIG. 1 is operable to perform a surgical cutting and stapling procedure,in a manner similar to an end effector of a conventional endocutter,though this is just one merely illustrative example.

FIG. 1 illustrates surgical instrument (10) with interchangeable shaftassembly (16) operatively coupled to handle assembly (11). FIGS. 2-3illustrate attachment of interchangeable shaft assembly (16) to housing(12) of handle (14). Handle (14) includes a pair of interconnectablehandle housing segments (22, 24) that may be interconnected by screws,snap features, adhesive, etc. In the illustrated arrangement, handlehousing segments (22, 24) cooperate to form a pistol grip portion (26)that can be grasped and manipulated by the clinician. As will bediscussed in further detail below, handle (14) operatively supports aplurality of drive systems therein that are configured to generate andapply various control motions to corresponding portions ofinterchangeable shaft assembly (16) that is operatively attachedthereto. As will also be discussed in further detail below, triggers(32, 33) are pivotable toward pistol grip portion (26) to activate atleast some of the drive systems in handle (14).

At least some of the drive systems in handle assembly (11) areultimately driven by a motor (118), which is shown schematically in FIG.5. In the present example, motor (118) is located in pistol grip portion(26), though it should be understood that motor (118) may be located atany other suitable position. Motor (118) receives power from a batterypack (110), which is secured to handle (14). In the present example, andas shown in FIG. 5, battery pack (110) is removable from handle (14). Insome other versions, battery pack (110) is not removable from handle(14). In some such versions, battery pack (110) (or a variation thereof)is fully contained within handle housing segments (22, 24). Varioussuitable forms that motor (118) and battery pack (110) may take will beapparent to those of ordinary skill in the art in view of the teachingsherein.

As also shown schematically in FIG. 5, a control circuit (117) iscontained within handle (14). By way of example only, control circuit(117) may comprise a microcontroller and/or various other components aswill be apparent to those of ordinary skill in the art in view of theteachings herein. Control circuit (117) is configured to store andexecute control algorithms to drive motor (118). As also shown in FIG. 5and FIG. 7, handle (14) includes an encoder (115) in communication withcontrol circuit (117). Encoder (115) is configured to read a pluralityof markings (85) located on longitudinal drive member (86). Each marking(85) is associated with a corresponding longitudinal position oflongitudinal drive member (86). Additionally, as mentioned above, motor(118) is operable to actuate longitudinal drive member (86). Forexample, as motor (118) rotates, motor (118) may rotate an idler gear(119), which in turn may mesh with teeth (88) of longitudinal drivemember (86), thereby actuating longitudinal drive member (86) in alinear direction. Therefore, as motor (118) actuates longitudinal drivemember (86), encoder (115) may read markings (85) on longitudinal drivemember (86) to track and determine the longitudinal position oflongitudinal drive member (86). Encoder (115) may communicate thisinformation to control circuit (117) to appropriately execute controlalgorithms.

While in the current example, encoder (115) and markings (85) are usedto determine the longitudinal position of longitudinal drive member(86), any other suitable components may be used in order track anddetermine the longitudinal position of longitudinal drive member (86).By way of further example only, a stepper motor may be utilized to drivelongitudinal drive member (86) in a manner that provides precise controlof the longitudinal position of longitudinal drive member (86).

Control circuit (117) is also configured to drive a graphical userinterface (116), which is located at the proximal end of handle assembly(11). In some versions, control circuit (117) is configured to receiveand process one or more signals from shaft assembly (16). By way ofexample only, control circuit (117) may be configured and operable inaccordance with at least some of the teachings of U.S. Pub. No.2015/0272575, entitled “Surgical Instrument Comprising a Sensor System,”published Oct. 1, 2015, the disclosure of which is incorporated byreference herein. Other suitable ways in which control circuit (117) maybe configured and operable will be apparent to those of ordinary skillin the art in view of the teachings herein.

As best seen in FIG. 3, a frame (28) of handle (14) operatively supportsa plurality of drive systems. In this particular example, frame (28)operatively supports a “first” or closure drive system, generallydesignated as (30), which may be employed to apply closing and openingmotions to interchangeable shaft assembly (16) that is operativelyattached or coupled thereto. Also in this particular example, closuredrive system (30) includes an actuator in the form of a closure trigger(32) that is pivotally supported by frame (28). More specifically,closure trigger (32) is pivotally coupled to housing (14) by a pin (notshown). Such arrangement enables closure trigger (32) to be manipulatedby a clinician such that when the clinician grasps pistol grip portion(26) of handle (14), closure trigger (32) may be easily pivoted from astarting or “unactuated” position (FIG. 4A) toward pistol grip portion(26) to an “actuated” position; and more particularly to a fullycompressed or fully actuated position (FIG. 4B). Closure trigger (32)may be biased into the unactuated position by spring or other biasingarrangement (not shown).

In the present example, closure drive system (30) further includes aclosure linkage assembly (36) pivotally coupled to closure trigger (32).A portion of closure linkage assembly (36) is shown in FIG. 3. Closurelinkage assembly (36) may include a first closure link (not shown) and asecond closure link (38) that are pivotally coupled to closure trigger(32) by a pin (not shown). Second closure link (38) may also be referredto herein as an “attachment member” and includes a transverse attachmentpin (42). As shown in FIG. 3, attachment pin (42) is exposed when shaftassembly (16) is detached from handle assembly (11). Attachment pin (42)may thus couple with a complementary feature of a shaft assembly (16)when shaft assembly (16) is coupled with handle assembly (11), asdescribed in greater detail below.

Still referring to FIGS. 1-3, first closure link (not shown) isconfigured to cooperate with a closure release assembly (44) that ispivotally coupled to frame (28). In at least one example, closurerelease assembly (44) has a release button assembly (46) with a distallyprotruding locking pawl (not shown) formed thereon. Release buttonassembly (46) may be pivoted in a counterclockwise direction by arelease spring (not shown). As the clinician depresses closure trigger(32) from its unactuated position toward pistol grip portion (26) ofhandle (14), first closure link (not shown) pivots upwardly to a pointwhere a locking pawl (not shown) drops into retaining engagement withfirst closure link (not shown), thereby preventing closure trigger (32)from returning to the unactuated position. Thus, closure releaseassembly (44) serves to lock closure trigger (32) in the fully actuatedposition.

When the clinician desires to unlock closure trigger (32) from theactuated position to return to the unactuated position, the cliniciansimply pivots closure release button assembly (46) by urging releasebutton assembly (46) distally, such that locking pawl (not shown) ismoved out of engagement with the first closure link (not shown). Whenthe locking pawl (not shown) has been moved out of engagement with firstclosure link (not shown), closure trigger (32) may return to theunactuated position in response to a resilient bias urging closuretrigger (32) back to the unactuated position. Other closure triggerlocking and release arrangements may also be employed.

Interchangeable shaft assembly (16) further includes an articulationjoint (52) and an articulation lock (not shown) that can be configuredto releasably hold end effector (18) in a desired position relative to alongitudinal axis of shaft assembly (16). In the present example,articulation joint (52) is configured to allow end effector (18) to belaterally deflected away from the longitudinal axis of shaft assembly(16), as is known in the art. By way of example only, end effector (18),articulation joint (52), and the articulation lock (not shown) may beconfigured and operable in accordance with at least some of theteachings of U.S. Pub. No. 2014/0263541, entitled “ArticulatableSurgical Instrument Comprising an Articulation Lock,” published Sep. 18,2014.

In the present example, articulation at articulation joint (52) ismotorized via motor (118), based on control input from the operator viaan articulation control rocker (112) on handle assembly (11). By way ofexample only, when the operator presses on the upper portion ofarticulation control rocker (112), end effector (18) may laterally pivotto the right (viewing instrument (10) from above) at articulation joint(52); and when the operator presses on the lower portion of articulationcontrol rocker (112), end effector (18) may laterally pivot to the left(viewing instrument (10) from above) at articulation joint (52). In someversions, the other side of handle assembly (11) includes anotherarticulation control rocker (112). In such versions, the articulationcontrol rocker (112) on the other side of handle assembly (11) may beconfigured to provide pivoting of end effector (18) in directionsopposite to those listed above in response to upper actuation ofarticulation control rocker (112) and lower actuation of articulationcontrol rocker (112). By way of example only, articulation controlrocker (112) and the rest of the features that provide motorizedarticulation of end effector (18) at articulation joint (52) may beconfigured and operable in accordance with at least some of theteachings of U.S. Pub. No. 2015/0280384, entitled “Surgical InstrumentComprising a Rotatable Shaft,” published Oct. 1, 2015, the disclosure ofwhich is incorporated by reference herein. Other suitable ways in whicharticulation control rocker (112) and the rest of the features thatprovide motorized articulation of end effector (18) at articulationjoint (52) may be configured and operable will be apparent to those ofordinary skill in the art in view of the teachings herein.

End effector (18) of the present example comprises a lower jaw in theform of an elongated channel (48) that is configured to operatively asupport staple cartridge (20) therein. End effector (18) of the presentexample further includes an upper jaw in the form of an anvil (50) thatis pivotally supported relative to elongated channel (48).Interchangeable shaft assembly (16) further includes a proximal housingor nozzle (54) comprised of nozzle portions (56, 58); and a closure tube(60) that can be utilized to close and/or open anvil (50) of endeffector (18). Shaft assembly (16) also includes a closure shuttle (62)that is slidably supported within a chassis (64) of shaft assembly (16)such that closure shuttle (62) may be axially moved relative to chassis(64). Closure shuttle (62) includes a pair of proximally-protrudinghooks (66) that are configured for attachment to attachment pin (42)that is attached to second closure link (38). A proximal end (not shown)of closure tube (60) is coupled to closure shuttle (62) for relativerotation thereto, though the coupling of closure tube (60) with closureshuttle (62) provides that closure tube (60) and closure shuttle (62)will translate longitudinally with each other. A closure spring (notshown) is journaled on closure tube (60) and serves to bias closure tube(60) in the proximal direction (PD), which can serve to pivot closuretrigger (32) into the unactuated position when shaft assembly (16) isoperatively coupled to handle (14).

In the present example, articulation joint (52) includes a double pivotclosure sleeve assembly (70). Double pivot closure sleeve assembly (70)includes an end effector closure sleeve assembly (72) for engaging anopening tab on anvil (50) in the various manners described in U.S. Pub.No. 2014/0263541, the disclosure of which is incorporated by referenceherein. Double pivot closure sleeve assembly (70) is coupled withclosure tube (60) such that double pivot closure sleeve assembly (70)translates with closure tube (60) in response to pivotal movement ofclosure trigger (32), even when articulation joint (52) is in anarticulated state (i.e., when end effector (18) is pivotally deflectedlaterally away from the longitudinal axis of shaft assembly (16) atarticulation joint (52)). Moreover, the engagement of end effectorclosure sleeve assembly (72) with anvil (50) provides pivotal movementof anvil (50) toward staple cartridge (20) in response to distaltranslation of double pivot closure sleeve assembly (70) and closuretube (60); and pivotal movement of anvil (50) away from staple cartridge(20) in response to proximal translation of double pivot closure sleeveassembly (70) and closure tube (60). While shaft assembly (16) of thepresent example includes articulation joint (52), other interchangeableshaft assemblies may lack articulation capabilities.

As shown in FIG. 3, chassis (64) includes a pair of tapered attachmentportions (74) formed thereon that are adapted to be received withincorresponding dovetail slots (76) formed within a distal attachmentflange portion (78) of frame (28). Each dovetail slot (76) may betapered or generally V-shaped to seatingly receive attachment portions(74) therein. A shaft attachment lug (80) is formed on the proximal endof an intermediate firing shaft (82). Thus, when interchangeable shaftassembly (16) is coupled to handle (14), shaft attachment lug (80) isreceived in a firing shaft attachment cradle (84) formed in a distal endof a longitudinal drive member (86). When shaft attachment lug (80) isreceived in firing shaft attachment cradle (84), intermediate firingshaft (82) will translate longitudinally with longitudinal drive member(86). When intermediate firing shaft (82) translates distally,intermediate firing shaft (82) actuates end effector (18) to drivestaples into tissue and cut the tissue, as is known in the art. By wayof example only, this actuation of end effector (18) may be carried outin accordance with at least some of the teachings of U.S. Pub. No.2015/0280384, the disclosure of which is incorporated by referenceherein; and/or in accordance with the teachings of various otherreferences cited herein.

FIGS. 4A-4C show the different states of handle assembly (11) during thedifferent states of actuation of end effector (18). In FIG. 4A, handleassembly (11) is in a state where closure trigger (32) is in anon-actuated pivotal position and firing trigger (33) is in anon-actuated pivotal position. At this stage, end effector (18) is in anopened state where anvil (50) is pivoted away from staple cartridge(20).

In FIG. 4B, handle assembly (11) is in a state where closure trigger(32) is in an actuated pivotal position. As noted above, closure trigger(32) will be locked in this position until the operator actuates releasebutton assembly (46). At this stage, end effector is in a closed butunfired state where anvil (50) is pivoted toward staple cartridge (20),such that tissue is being compressed between anvil (50) and cartridge(20). However, firing shaft (82) has not yet been driven distally toactuate staples from staple cartridge (20), and the knife at the distalend of firing shaft (82) has not yet severed the tissue between anvil(20) and staple cartridge (20). It should be noted that firing trigger(33) is in a partially-actuated pivotal position in FIG. 4B, due to thetravel of closure trigger (32) from the non-actuated pivotal position tothe actuated pivotal position. However, this movement of firing trigger(33) is only provided to improve access to firing trigger (33) for theoperator. In other words, this movement of firing trigger (33) from theposition shown in FIG. 4A to the position shown in FIG. 4B does not yetactivate a firing sequence.

In FIG. 4C, handle assembly is in a state where closure trigger (32)remains in the actuated pivotal position, and firing trigger (33) hasbeen pivoted to an actuated pivotal position. This actuation of firingtrigger (33) activates motor (118) to drive longitudinal drive member(86) longitudinally, which in turn drives firing shaft (82)longitudinally. The longitudinal movement of firing shaft (82) resultsin actuation of staples from staple cartridge (20) into the tissuecompressed between anvil (50) and staple cartridge (20); and furtherresults in the severing of the tissue compressed between anvil (50) andstaple cartridge (20). In some versions, an additional safety trigger isprovided. For instance, the additional safety trigger may preventactuation of firing trigger (33) until the safety trigger is actuated.In other words, after reaching the state shown in FIG. 4B, when theoperator is ready to actuate firing trigger (33), the operator mustfirst actuate the safety trigger and then actuate firing trigger (33).The presence of a safety trigger may prevent inadvertent actuation offiring trigger (33).

It should also be understood that, in the present example, the actuationof anvil (50) toward staple cartridge (20) is provided through purelymechanical couplings between closure trigger (32) and anvil (50), suchthat motor (118) is not used to actuate anvil (50). It should also beunderstood that, in the present example, the actuation of firing shaft(82) (and, hence, the actuation of staple cartridge (20)) is providedthrough activation of motor (118). In addition, the actuation ofarticulation joint (52) is provided through activation of motor (118) inthe present example. This motorized actuation of articulation joint (52)is provided via longitudinal translation of drive member (86). A clutchassembly (not shown) within shaft assembly (16) is operable toselectively couple longitudinal translation of drive member (86) withfeatures to either drive articulation joint (52) or actuate staplecartridge (20). Such selective coupling via the clutch assembly is basedon the pivotal position of closure trigger (32). In particular, whenclosure trigger (32) is in the non-actuated position shown in FIG. 4A,activation of motor (118) (in response to activation of articulationcontrol rocker (112)) will drive articulation joint (52). When closuretrigger (32) is in the actuated position shown in FIG. 4B, activation ofmotor (118) (in response to actuation of firing trigger (33)) willactuate staple cartridge (20). By way of example only, the clutchassembly may be configured and operable in accordance with at least someof the teachings of U.S. Pub. No. 2015/0280384, the disclosure of whichis incorporated by reference herein.

In the present example, handle assembly (11) also includes a “home”button (114). By way of example only, when anvil (50) is in a closedposition, “home” button (114) may be operable to activate motor (118) toretract drive member (86) proximally to a proximal-most, “home”position. In addition, or in the alternative, when anvil (50) is in anopen position, “home” button (114) may be operable to activate motor(118) to drive articulation joint (52) to achieve a non-articulatedstate, such that end effector (18) is coaxially aligned with shaftassembly (16). In addition, or in the alternative, “home” button (114)may activate graphical user interface (116) to return to a “home”screen. Other suitable operations that may be provided in response toactivation of “home” button (114) will be apparent to those of ordinaryskill in the art in view of the teachings herein.

Shaft assembly (16) of the present example further includes a latchsystem for removably coupling shaft assembly (16) to handle assembly(11) and, more specifically, to frame (28). By way of example only, thislatch system may include a lock yoke or other kind of lock member thatis movably coupled to chassis (64). As shown in FIG. 3, such a lock yokemay include two proximally protruding lock lugs (96) that are configuredfor releasable engagement with corresponding lock detents or grooves(98) in frame (28). In some versions, the lock yoke is biased in theproximal direction by a resilient member (e.g., a spring, etc.).Actuation of the lock yoke may be accomplished by a latch button (100)that is slidably mounted on a latch actuator assembly (102) that ismounted to chassis (64). Latch button (100) may be biased in a proximaldirection relative to the lock yoke. The lock yoke may be moved to anunlocked position by urging latch button (100) the in distal direction,which also causes the lock yoke to pivot out of retaining engagementwith frame (28). When the lock yoke is in “retaining engagement” withframe (28), lock lugs (96) are retainingly seated within thecorresponding lock detents or grooves (98). By way of further exampleonly, shaft assembly (16) may be removably coupled with handle assembly(11) in accordance with at least some of the teachings of U.S. Pub. No.2017/0086823, entitled “Surgical Stapling Instrument with Shaft Release,Powered Firing, and Powered Articulation,” published Mar. 30, 2017, thedisclosure of which is incorporated by reference herein; in accordancewith at least some of the teachings of U.S. Pub. No. 2015/0280384, thedisclosure of which is incorporated by reference herein; and/or in anyother suitable fashion.

To commence the coupling process between shaft assembly (16) and handleassembly (11), the clinician may position chassis (64) ofinterchangeable shaft assembly (16) above or adjacent to frame (28) suchthat tapered attachment portions (74) formed on chassis (64) are alignedwith dovetail slots (76) in frame (28). The clinician may then moveshaft assembly (16) along an installation axis (IA) that isperpendicular to the longitudinal axis of shaft assembly (16) to seatattachment portions (74) in “operative engagement” with thecorresponding dovetail receiving slots (76). In doing so, shaftattachment lug (80) on intermediate firing shaft (82) will also beseated in cradle (84) in the longitudinally movable drive member (86)and the portions of pin (42) on second closure link (38) will be seatedin the corresponding hooks (66) in closure shuttle (62). As used herein,the term “operative engagement” in the context of two components meansthat the two components are sufficiently engaged with each other so thatupon application of an actuation motion thereto, the components maycarry out their intended action, function, and/or procedure.

As discussed above, at least five systems of interchangeable shaftassembly (16) may be operatively coupled with at least fivecorresponding systems of handle (14). A first system comprises a framesystem that couples and/or aligns the frame or spine of shaft assembly(16) with frame (28) of the handle (14). A second system is the latchsystem that releasably locks the shaft assembly (16) to the handle (14).

A third system is closure drive system (30) that may operatively connectclosure trigger (32) of handle (14) and closure tube (60) and anvil (50)of shaft assembly (16). As outlined above, closure shuttle (62) of shaftassembly (16) engages with pin (42) on second closure link (38). Throughclosure drive system (30), anvil (50) pivots toward and away from staplecartridge (20) based on pivotal movement of closure trigger (32) towardand away from pistol grip (26).

A fourth system is an articulation and firing drive system operativelyconnecting firing trigger (33) of handle (14) with intermediate firingshaft (82) of the shaft assembly (16). As outlined above, the shaftattachment lug (80) operatively connects with the cradle (84) of thelongitudinal drive member (86). This fourth system provides motorizedactuation of either articulation joint (52) or staple cartridge (20),depending on the pivotal position of closure trigger (32). When closuretrigger (32) is in a non-actuated pivotal position, the fourth systemoperatively connects articulation control rocker (112) with articulationjoint (52), thereby providing motorized pivotal deflection of endeffector (18) toward and away from the longitudinal axis of shaftassembly (11) at articulation joint (52). When closure trigger (32) isin an actuated pivotal position, the fourth system operatively connectsfiring trigger (33) with staple cartridge (20), resulting in staplingand cutting of tissue captured between anvil (50) and staple cartridge(20) in response to actuation of firing trigger (33).

A fifth system is an electrical system that can signal to controlcircuit (117) in handle (14) that the shaft assembly (16) has beenoperatively engaged with the handle (14), to conduct power and/orcommunicate signals between the shaft assembly (16) and the handle (14).In the present example, and as shown in FIG. 3, shaft assembly (16)includes an electrical connector (106) that is operatively mounted to ashaft circuit board (not shown). Electrical connector (106) isconfigured for mating engagement with a corresponding electricalconnector (108) on a handle control board (not shown). Further detailsregarding the circuitry and control systems may be found in U.S. Pub.No. 2014/0263541, the disclosure of which is incorporated by referenceherein and/or U.S. Pub. No. 2015/0272575, the disclosure of which isincorporated by reference herein.

As noted above, handle assembly (11) of the present example includes agraphical user interface (116). By way of example only, graphical userinterface (116) may be used to display various information about theoperational state of battery (110), the operational state of endeffector (18), the operational state of articulation joint (52), theoperational state of triggers (32, 33), and/or any other kinds ofinformation. Other suitable kinds of information that may be displayedvia graphical user interface will be apparent to those of ordinary skillin the art in view of the teachings herein.

Handle assembly (11) may be configured for use in connection withinterchangeable shaft assemblies that include end effectors that areadapted to support different sizes and types of staple cartridges, havedifferent shaft lengths, sizes, and types, etc. By way of example only,FIG. 6 shows various kinds of shaft assemblies (16, 120, 130, 140) thatmay be used with handle assembly (11). In particular, FIG. 6 shows acircular stapler shaft assembly (120) with an end effector (122) that isoperable to perform a circular stapling operation (e.g., end-to-endanastomosis); a liner stapler shaft assembly (130) with an end effector(132) that is operable to perform a linear stapling operation; and asecond endocutter shaft assembly (140) with an end effector (142) thatis operable to perform the same kind of stapling and cutting operationas end effector (18). However, in this example, shaft assembly (140) isshorter than shaft assembly (16), shaft assembly (140) has a smallerdiameter than shaft assembly (16), and end effector (142) is smallerthan end effector (18). These various surgical stapling shaft assemblies(16, 120, 130, 140) are merely illustrative examples.

It should also be understood that control circuit (117) may beconfigured to detect the kind of shaft assembly (16, 120, 130, 140)coupled with handle assembly (11), and select a control algorithm suitedfor that particular kind of shaft assembly (16, 120, 130, 140). Asanother merely illustrative example, each shaft assembly (16, 120, 130,140) may have a chip or other memory device storing the controlalgorithm suited for that particular kind of shaft assembly (16, 120,130, 140); and control circuit (117) may receive and execute thatcontrol algorithm after shaft assembly (16, 120, 130, 140) is coupledwith handle assembly (11).

In addition, handle assembly (11) may also be effectively employed witha variety of other interchangeable shaft assemblies including thoseassemblies that are configured to apply other motions and kinds ofenergy such as, for example, radio frequency (RF) energy, ultrasonicenergy and/or motion to end effector arrangements adapted for use inconnection with various surgical applications and procedures.Furthermore, end effectors, shaft assemblies, handles, surgicalinstruments, and/or surgical instrument systems can utilize any suitablefastener, or fasteners, to fasten tissue. For instance, a fastenercartridge comprising a plurality of fasteners removably stored thereincan be removably inserted into and/or attached to the end effector of ashaft assembly. Various examples of such cartridges are disclosed invarious references that are cited herein.

The various shaft assemblies (16) disclosed herein may employ sensorsand various other components that require electrical communication withcontrol circuit (117) in handled assembly (11). The electricalcommunications may be provided via mating electrical connectors (106,108). By way of example only, such sensors and other components may beconstructed and operable in accordance with at least some of theteachings of U.S. Pub. No. 2015/0272575, the disclosure of which isincorporated by reference herein. In addition, or in the alternative,instrument (10) may be constructed and operable in accordance with atleast some of the teachings of any of the various other references thatare cited herein.

It will be appreciated that the various teachings herein may also beeffectively employed in connection with robotically-controlled surgicalsystems. Thus, the term “housing” or “body” may also encompass ahousing, body, or similar portion of a robotic system that houses orotherwise operatively supports at least one drive system that isconfigured to generate and apply at least one control motion which couldbe used to actuate the interchangeable shaft assemblies disclosed hereinand their respective equivalents. The term “frame” may refer to aportion of a handheld surgical instrument. The term “frame” may alsorepresent a portion of a robotically controlled surgical instrumentand/or a portion of the robotic system that may be used to operativelycontrol a surgical instrument. By way of example only, theinterchangeable shaft assemblies disclosed herein may be employed withany of the various robotic systems, instruments, components and methodsdisclosed in U.S. Pat. No. 9,072,535, entitled “Surgical StaplingInstruments with Rotatable Staple Deployment Arrangements,” issued Jul.7, 2015, the disclosure of which is incorporated by reference herein.

II. Exemplary Circular Stapler Attachment with Independent Stapling andCutting Features

As described above, handle assembly (11) may be configured for use inconnection with interchangeable shaft assemblies that include variousend effectors, such as circular stapler shaft assembly (120) and endeffector (122) to form an end-to-end anastomosis. For example, in somesurgical procedures (e.g., colorectal, bariatric, thoracic, etc.),portions of a patient's digestive tract (e.g., the gastrointestinaltract and/or esophagus, etc.) may be cut and removed to eliminateundesirable tissue or for other reasons. Once the tissue is removed, theremaining portions of the digestive tract may be coupled together in anend-to-end anastomosis using a circular stapler similar to that ofcircular stapler shaft assembly (120) and end effector (122). Theend-to-end anastomosis may provide a substantially unobstructed flowpath from one portion of the digestive tract to the other portion of thedigestive tract, without also providing any kind of leaking at the siteof the anastomosis.

For instance, a circular stapler may be operable to clamp down on layersof tissue, drive staples through the clamped layers of tissue, and cutthrough the clamped layers of tissue to substantially seal the layers oftissue together near the severed ends of the tissue layers, therebyjoining the two severed ends of the anatomical lumen together. Inparticular, the circular stapler may sever excess tissue that isinterior to an annular array of staples at an anastomosis, to provide asubstantially smooth transition between the anatomical lumen sectionsthat are joined at the anastomosis.

In some instances, when using a circular stapler to form an end-to-endanastomosis, staple formation and anastomosis integrity may beinadvertently and negatively affected. It may therefore be desirable toreduce inadvertent and negative effects of staple formation during anend-to-end anastomosis. Additionally, it may be desirable to reduce toamount to tissue trauma caused during staple formation.

For example, staple formation may be negatively affected by initiallydriving an annular row of staples through tissue while simultaneouslysevering excess tissue. For instance, when an initial row of staples isforming simultaneously during excess tissue severing, stapled tissue maybegin to move due to forces absorbed from severing of excess tissuebefore staples are fully formed. Movement of stapled tissue before fullformation of an initial row of staples may adversely impact the qualityof an end-to-end anastomosis. Therefore, it may be desirable to fire afirst row of staples into tissue before severing excess tissue. Firing afirst row of staples into tissue before severing tissue may preventunwanted movement of stapled tissue before completion of stapleformation, which may increase the integrity of staple formation in anend-to end anastomosis.

Additionally, staple formation may be negatively affected bysimultaneously driving multiple annular staple rows to form anend-to-end anastomosis. Therefore, it may also be desirable to fire afirst annular row of staples into tissue, then fire an additionalannular row(s) of staples into tissue sequentially before severingexcess tissue. Alternatively, it may be desirable to fire a firstannular row of staples into tissue before severing excess tissue, thenfire a second annular row of staples into tissue while simultaneouslysevering excess tissue. Firing a first row of staples into tissue mayallow for the general shape of an end-to-end anastomosis for form, whilesequentially firing a second row of staples into tissue may allow for afiner cinching of the end-to-end anastomosis to develop.

It may therefore be desirable to have a circular stapler withcapabilities of independently firing annular rows of staples, and/orindependently firing a blade assembly to sever excess tissue.

FIGS. 8-9 show an exemplary interchangeable circular stapler attachment(150) that may be readily incorporated with handle assembly (11) inplace of shaft assembly (16) and end effector (18) described above. Aswill be described in greater detail below, handle assembly (11) andinterchangeable circular stapler attachment (150) are configured tocouple with each other such that circular stapler attachment (150) mayperform an end-to-end anastomosis by independently driving multipleannular arrays of staple rows, as well as independently severing excesstissue after at least a first staple row is formed. In particular, firstdrive system (30) and longitudinal drive member (86) are configured togenerate and apply various control motions to corresponding portions ofinterchangeable circular stapler attachment (150) in accordance with thedescriptions above such that a clinician may selectively controlportions of interchangeable circular stapler attachment (150) via handleassembly (11) to form an end-to-end anastomosis.

Interchangeable circular stapler attachment (150) includes a shaftassembly (156) and an end effector (158). Shaft assembly (156) includesa proximal housing (210), an outer sheath (240), a distal housing (260),an intermediate firing shaft (226), a reciprocating drive assembly (400)slidably housed within outer sheath (240) and distal housing (260), anda trocar assembly (300) slidably housed within reciprocating driveassembly (400). End effector (158) includes an anvil (600), a deckmember (640) fixed to a distal end of distal housing (260), a pluralityof staples (702) housed within deck member (640), and a stapling andcutting assembly (700) slidably housed within distal housing (260). Aswill be described in greater detail below, when properly coupled withhandle assembly (11), trocar assembly (300) is configured to couple withanvil (600) and actuate anvil toward deck member (640) to compress twolayers of tissue. As will also be described in greater detail below,reciprocating drive assembly (400) is configured to sequentially driveportions of stapling and cutting assembly (700) to drive multipleannular arrays of staples (702) into tissue and then sever excessportions of tissue to form an end-to-end anastomosis.

A. Exemplary End Effector

As noted above, end effector (158) includes anvil (600), deck member(640), and stapling and cutting assembly (700). As best seen in FIG. 10,anvil (600) of the present example comprises a head (602) and a shank(614). Head (602) includes a proximal surface (604) that defines anouter annular array of staple forming pockets (606) and an inner annulararray of staple forming pockets (608). Staple forming pockets (606, 608)are configured to deform staples (702) as staples (702) are driven intostaple forming pockets (606, 608). For instance, each stapling formingpocket (606, 608) may deform a generally “U” shaped staple (702) into a“B” shape as in known in the art. Proximal surface (604) terminates atan inner edge which defines an outer boundary for an annular recess(612) surrounding shank (614). As will be described in greater detailbelow, outer annular array of stapling forming pockets (606) areconfigured to receive staples (702) from a selected portion of staplingand cutting assembly (700) while inner annular array of staple formingpockets (608) are configured to receive staples (702) from a separateselected portion of stapling and cutting assembly (700).

Shank (614) defines a bore (616) and a pair of lateral openings (618).Bore (616) is open at a proximal end of shank (614) to receive a distalend of trocar assembly (300). Shank (614) is configured to selectivelycouple with the distal end of trocar assembly (300) such that when aportion of trocar assembly (300) is inserted within shank (614), anvil(600) may move with trocar assembly (300) relative to the rest of endeffector (158) and shaft assembly (156). In other words, when properlycoupled, trocar assembly (300) may drive anvil (600) toward and awayfrom the rest of end effector (158) to compress and release tissuebetween proximal surface (604) and deck member (640). Shank (614) mayinclude any suitable features for coupling anvil (600) with trocarassembly (300) as would be apparent to one having ordinary skill in theart in view of the teachings herein. For example, shank (614) mayinclude a pair of latch members (not shown) positioned within bore (616)that deflect radially outwardly from the longitudinal axis defined byshank (616) to snap fit with trocar assembly (300).

As best seen in FIGS. 13-15, deck member (640) includes a distallypresented deck surface (642) and a plurality of tissue graspingprotrusions (648). Deck member (640) also defines an inner diameter(646), an outer concentric annular array of staple openings (606), andan inner concentric annular array of stapling openings (645). Deckmember (640) is fixed to the distal end of distal housing (260).Additionally, deck member (640) houses a plurality of staples (702) inboth staple openings (644, 645). Staple openings (644, 645) areconfigured to align with staple forming pockets (606, 608) respectivelywhen anvil (600) and deck member (640) compress tissue between proximalsurface (604) and distally presented deck surface (642). As will bedescribed in greater detail below, staple openings (644, 645) areconfigured to receive respective portions of staple and cutting assembly(700) to drive staples (702) into respective staple forming pockets(606, 608).

As best seen in FIG. 11, and as will be described in greater detailbelow, inner diameter (646) is dimensioned to receive a blade member(712) of stapling and cutting assembly (700) such that blade member(712) may sever excess tissue within the confines of inner diameter(646). Additionally, inner diameter (646) may receive selected portionsof trocar assembly (300) such that anvil (600) may couple with trocarassembly (300).

As best seen in FIG. 16, stapling and cutting assembly (700) include ablade assembly (710), an outer staple driver (750), and an inner stapledriver assembly (770); all of which are slidably housed within distalhousing (260) of shaft assembly (156). As will be described in greaterdetail below, blade assembly (710), outer staple driver (750), and innerstaple driver assembly (770) are configured to be individually actuatedrelative to deck member (640) to either drive an annular array ofstaples (702) or to sever excess tissue.

As best seen in FIG. 17, outer staple driver (750) includes an annulararray of staple drivers (752), three proximally presented firing legs(754) each terminating into a drive coupler (756). Outer staple driver(750) defines a bore (758) dimensioned to slidably house inner stapledriver assembly (770). Staple drivers (752) are each dimensioned toactuate within a respective staple opening of outer concentric annulararray of staple openings (644) to drive staples (702) against arespective staple forming pocket from outer annular array of stapleforming pockets (606). As will be described in greater detail below,proximally presented firing legs (754) and respective drive couplers(756) are positioned to selectively align with a portion ofreciprocating drive assembly (400) such that staple drivers (752) maydrive staples (702) independently of both blade assembly (710) and innerstaple driver assembly (770).

As best seen in FIGS. 18-19, inner staple driver assembly (770) includesa plurality of inner staple driver sections (780), each configured to beslidably housed between respective sectors defined by firing legs (754)of outer staple driver (750). Together, inner staple driver sections(780) define a bore (778) dimensioned to slidably house a blade member(712) of blade assembly (710). Each inner staple driver section (780) islocated within the bore (758) of outer staple driver (750). Each innerstaple driver section (780) includes a plurality of staple drivers (772)dimensioned to actuate within a respective staple opening of innerconcentric annular array of staple openings (645) to drive staples (702)against inner annular array of staple forming pockets (608).Additionally, each inner staple driver section (780) includes aproximally presented firing leg (774) having a drive coupler (776). Aswill be described in greater detail below, proximally presented firinglegs (754) and respective drive couplers (776) are positioned toselectively align with a portion of reciprocating drive assembly (400)such that staple drivers (772) of each inner staple driver section (780)may drive staples (702) independently of both blade assembly (710) andinner staple driver assembly (770).

As best seen in FIGS. 20-21, blade assembly (710) includes a cylindricalblade member (712) and a coupling ring (730). Cylindrical blade member(712) includes a distal cutting edge (714), a proximally presentedsurface (716), and a flange (718). Cylindrical blade member (712) alsodefines an inner core pathway (720), a tissue cavity housing (722), anda rotational camming slot (724). Inner core pathway (720) is sized toreceive an inner core (262) of distal housing (260), while tissue cavityhousing (722) is dimensioned to receive severed tissue as will bedescribed in greater detail below. Rotational camming slot (724) isconfigured to mate with a spiraling blade cam (280) on inner core (262)of distal housing (260) such that cylindrical blade member (712) rotatesas cylindrical blade member (712) is actuated. Proximally presentedsurface (716) and flange (718) are configured to rotationally couplewith coupling ring (730) such that cylindrical blade member (712) mayrotate relative to coupling ring (730) while blade assembly (710)actuates.

Coupling ring (730) also includes three proximally presented firing legs(732) each terminating into a drive coupler (734). As will be describedin greater detail below, proximally presented firing legs (732) andrespective drive couplers (734) are positioned to selectively align witha portion of reciprocating driver assembly (400) such cylindrical blademember (712) may sever excess tissue independently of outer stapledriver (750) and inner staple driver assembly (770).

B. Exemplary Proximal Housing of Shaft Assembly

As will be described in greater detail below, selected portions ofproximal housing (210) are configured to couple with selected portionsof handle assembly (11) for operative engagement. Proximal housing (210)includes a pair of nozzle portions (212, 214) that are substantiallysimilar to nozzle portions (56, 58) described above, with differencesdescribed below.

Proximal housing (210) also includes a translating shuttle (216) and achassis (218) housed within nozzle portions (212, 214). Similar toclosure shuttle (62) described above, translating shuttle (216) includesa pair of proximally-protruding hooks (220) that are configured forattachment to attachment pin (42) that is attached to second closurelink (38). Therefore, when properly coupled, translating shuttle (216)is configured to translate relative to chassis (218) in response toclosure trigger (32) moving between the non-actuated pivotal position(as shown in FIG. 4A), and the actuated pivotal position (as shown inFIG. 4B) in accordance with the description above. As will be describedin greater detail below, actuation of translating shuttle (216) isconfigured to actuate clutch assembly (500) to selectively couple anddecouple trocar assembly (300) from intermediate firing shaft (226).

Similar to chassis (64) described above, chassis (218) includes a pairof tapered attachment portions (222) formed thereon that are adapted tobe received within corresponding dovetail slots (76) formed withindistal attachment flange portion (78) of frame (28). Each dovetail slot(76) may be tapered or generally V-shaped to seatingly receiveattachment portions (222) therein. When attachment portions (222) areproperly placed within dovetail slot (76), chassis (218) islongitudinally and rotationally fixed to frame (28) of handle assembly(11).

Additionally, proximal housing (210) includes a latch system forremovably coupling proximal housing (210) to handle assembly (11) and,more specifically, to frame (28). In other words, while attachmentportions (222) prevent longitudinal and rotational movement of chassis(218) relative to frame (28), latch system may prevent chassis (218)from vertically sliding out of dovetail slots (76) when properlycoupled.

By way of example only, this latch system may include a lock yoke orother kind a lock member that is movably coupled to chassis (218). Asshown in FIGS. 9 and 28, such a lock yoke may include two proximallyprotruding lock lugs (228) that are configured for releasable engagementwith corresponding lock detents or groves (98) in frame (28). Actuationof the lock yoke may be accomplished by a latch button (230) that isboth slidably mounted to chassis (218) and attached to lock lugs (228).As best seen in FIG. 28, latch button (230) and lock lugs (228) areproximally biased via a bias spring (229) such that lock lugs (228) arepivoted relative to chassis (218) about pivot point (231) toward aproximal, locked position. The lock yoke may be moved to an unlockedposition by urging latch button (100) the in distal direction, whichalso causes the lock yoke to pivot out of retaining engagement withframe (28). When the lock yoke is in “retaining engagement” with frame(28), lock lugs (228) are retainingly seated within the correspondinglock detents or grooves (98). By way of further example only, proximalhousing (210) may be removably coupled with handle assembly (11) inaccordance with at least some of the teachings of U.S. Pub. No.2017/0086823, the disclosure of which is incorporated by referenceherein; in accordance with at least some of the teachings of U.S. Pub.No. 2015/0280384, the disclosure of which is incorporated by referenceherein; and/or in any other suitable fashion.

Chassis (218) further includes an electrical connector (232) that may besubstantially similar to electrical connector (106) described above.Therefore, electrical connector (232) may be operatively mounted to ashaft circuit board (not shown). Electrical connector (232) isconfigured for mating engagement with a corresponding electricalconnector (108) on a handle control board (not shown). Further detailsregarding the circuitry and control systems may be found in U.S. Pub.No. 2014/0263541, the disclosure of which is incorporated by referenceherein and/or U.S. Pub. No. 2015/0272575, the disclosure of which isincorporated by reference herein.

As mentioned above, shaft assembly (156) further comprises intermediatefiring shaft (226) having a shaft attachment lug (224) that issubstantially similar to intermediate firing shaft (82) having shaftattachment lug (80) described above, respectively, with differencesdescribed below. Therefore, shaft attachment lug (224) is configured tobe seated in cradle (84) in the longitudinally movable drive member (86)when shaft assembly (156) is properly coupled with handle assembly (11).As will be described in greater detail below, motor (118) is operable todrive intermediate firing shaft (226) to actuate trocar assembly (300)and a reciprocating drive assembly (400) in accordance with thedescriptions herein.

To commence the coupling process between proximal housing (210) of shaftassembly (156) and handle assembly (11), the clinician may positionchassis (218) of proximal housing (210) above or adjacent to frame (28)such that tapered attachment portions (222) formed on chassis (218) arealigned with dovetail slots (76) in frame (28). The clinician may thenmove shaft assembly (156) along an installation axis (IA) that isperpendicular to the longitudinal axis of intermediate firing shaft(226) to seat attachment portions (222) in “operative engagement” withthe corresponding dovetail receiving slots (76). In doing so, shaftattachment lug (224) on intermediate firing shaft (226) will also beseated in cradle (84) in the longitudinally movable drive member (86)and the portions of pin (42) on second closure link (38) will be seatedin the corresponding hooks (220) in translating shuttle (216).

When properly coupled, nozzle portions (212, 214) are operable to rotateend effector (158) and selected portions of shaft assembly (156)excluding translating shuttle (216), chassis (218), lock lugs (228),bias spring (229), electrical connector (332), and latch button (230).In particular, nozzle portions (212, 214) may rotate end effector (158)and selective portions of shaft assembly (156) about the longitudinalaxis defined by outer sheath (240). Therefore, a clinician may rotateend effector (158) and shaft assembly (156) to a desired rotationalorientation in preparation for an end-to-end anastomosis procedure.

Similar to shaft assembly (16) discussed above, at least five systems ofinterchangeable circular stapler attachment (150) may be operativelycoupled with at least five corresponding systems of handle (14). A firstsystem comprises a frame system that couples and/or aligns the frame orspine of shaft assembly (156) with frame (28) of handle (14), asdescribed above. A second system is the latch system that releasablylocks shaft assembly (156) to handle (14), as described above.

A third system is the first drive system (30) that may operativelyconnect closure trigger (32) of handle (14) and translating shuttle(216) of proximal housing (210). As mentioned above, and as describedbelow, the third system may be used to actuate clutch assembly (500) toselectively couple and decouple trocar assembly (300) from intermediatefiring shaft (226).

A fourth system is a trocar and firing drive system operativelyconnecting control rocker (112) and firing trigger (33) of handle (14)with intermediate firing shaft (226) of shaft assembly (156). Asoutlined above, shaft attachment lug (224) operatively connects withcradle (84) of longitudinal driver member (86). This fourth systemprovides motorized actuation of either trocar assembly (300) orreciprocating driver member (400), depending on the pivotal position ofclosure trigger (32). As will be described in greater detail below, whenclosure trigger (32) is in a non-actuated pivotal position (as shown inFIG. 4A), the fourth system operatively connects control rocker (112)with trocar assembly (300), thereby providing motorized actuation oftrocar assembly (300). When closure trigger (32) is in an actuatedpivotal position (as shown in FIG. 4B), the fourth system operativelyconnects firing trigger (33) with reciprocating drive assembly (400),resulting in sequential stapling and cutting of tissue captured betweenanvil (600) and deck member (640) in response to actuation of firingtrigger (33).

A fifth system is an electrical system that can signal to controlcircuit in handle (14) that shaft assembly (156) has been operativelyengaged with handle (14), to conduct power and/or communicate signalsbetween shaft assembly (156) and handle (14).

Other kinds of systems of interchangeable shaft assembly (156) that maybe operatively coupled with at corresponding systems of the handle (14)will be apparent to those of ordinary skill in the art in view of theteachings herein.

C. Exemplary Outer Sheath and Distal Housing of Shaft Assembly

As best seen in FIGS. 8-9, 12, and 22-23B, shaft assembly (156) includesouter sheath (240) and distal housing (260). Outer sheath (240) extendsfrom a proximal portion (242) coupled to nozzles (212, 214), to a distalportion (244) coupled to distal housing (260). Outer sheath (240) housesa portion of intermediate firing shaft (226), trocar assembly (300),reciprocating drive assembly (400), and clutch assembly (500). Distalhousing (260) houses stapling and cutting assembly (700), a portion oftrocar assembly (300), and a portion of reciprocating drive assembly(400).

Outer sheath (240) may be somewhat flexible so that a clinician may flexouter sheath (240), portions of trocar assembly (300), and portions ofreciprocating drive assembly (400) to a desired longitudinal profile foraccessing a targeted anatomical passageway of a patient. As best seen inFIG. 23A, distal portion (244) of outer sheath (240) defines a distalcutout (246). Additionally, distal portion (244) of outer sheath (240)includes a ledge (248) configured to abut against a proximal end ofdistal housing (260). As best seen in FIGS. 50A-50G, ledge (248) definesa notch (250) configured to receive a proximally presented nub (278) ofdistal housing (260) to help couple distal housing (260) and outersheath (240).

Distal housing (260) includes a distal housing chamber (266) and aproximal housing chamber (268). Distal housing chamber (266) isconfigured to slidably house staple drivers (752, 772) of outer stapledriver (750) and inner staple driver sections (780), respectively, aswell as blade member (712) of blade assembly (710). Proximal housingchamber (286) is configured to slidably house firing legs (732, 752,772) of blade assembly (710), outer staple driver (750), and innerstaple driver sections (780), respectively. Additionally, as will bedescribed in greater detail below, proximal housing chamber (286) isconfigured to slidably house a distal end of reciprocating driverassembly (400) such that reciprocating driver assembly (400) mayselectively engage firings legs (732, 752, 772).

Distal housing (260) includes inner core (262) extending from proximalhousing chamber (268) into distal housing chamber (266). The interior ofinner core (262) defines a trocar pathway (264) dimensioned to slidablyhouse a portion of trocar assembly (300), such that trocar assembly(300) may extend from proximal housing chamber (268) all the way throughdistal housing chamber (266) to couple with, and actuate anvil (600).Inner core (262) is attached to the interior of proximal housing chamber(268) via coupling members (270). Coupling members (270), proximalhousing chamber (268), and inner core (262) also define firing legpathways (272) that are dimensioned to allow firings legs (732, 752,772) to actuate blade assembly (710), outer staple driver (750), andinner staple driver assembly (770), respectively, within distal housingchamber (266). In other words, firing legs (732, 752, 772) may extendingfrom distal housing chamber (266) to proximal housing chamber (268) viafiring leg pathways (272).

Outer sheath (240) and distal housing (260) are configured to coupletogether to define a drive assembly pathway (380). In particular, asshown between FIGS. 23A-23B, proximal housing chamber (268) includes afirst interior protrusion (274) and a second interior protrusion (276),both extending radially inward. When properly coupled, first interiorprotrusion (274), second interior protrusion (276), and the profile ofdistal cutout (246) define drive assembly pathway (380). Drive assemblypathway (380) includes a first stapling pathway (382), a second staplingpathway (384), and a blade actuation pathway (386), all connected toeach other by a connecting channel (388). Connecting channel (388) ispartially defined by a camming face (245) of distal cutout (246). Aswill be described in greater detail below, camming face (245) of driveassembly pathway (380) is configured to properly orient selectedportions of reciprocating drive assembly (400) based on a longitudinalposition of reciprocating driver assembly (400) to sequentially driveouter staple driver (750), inner staple driver assembly (770), and bladeassembly (710).

D. Exemplary Clutch Assembly of Shaft Assembly

As mentioned above, when properly coupled, motor (118) is operable todrive intermediate firing shaft (226) to actuate trocar assembly (300)or reciprocating drive assembly (400), depending on the pivotal positionof closure trigger (32). In particular, when closure trigger (32) is inthe non-actuated pivotal position (as shown in FIG. 4A), control rocker(112) may activate motor (118) to drive intermediate firing shaft (226),which may drive trocar assembly (300), independently of reciprocatingdrive assembly (400), relative to outer sheath (240) and distal housing(260). When closure trigger (32) is in the actuated pivotal position (asshown in FIG. 4B), control rocker (112) may no longer activate motor(118), but firing trigger (33) may activate motor (118) to driveintermediate firing shaft (226), which in turn drives reciprocatingdrive assembly (400), independently of trocar assembly (300), in asequential firing motion to drive individual portions stapling andcutting assembly (700), as will be described in greater detail below.

As also mentioned above, and as will be described in greater detailbelow, shaft assembly (156) includes clutch assembly (500), which isconfigured to selectively decouple trocar assembly (300) fromintermediate firing shaft (226) such that activation of firing trigger(33) may allow intermediate firing shaft (226) to drive reciprocatingdrive assembly (400) without driving trocar assembly (300). Inparticular, clutch assembly (500) is configured to decouple trocarassembly (300) from intermediate firing shaft (226) in response topivotal movement of closure trigger (32).

As best seen in FIGS. 27 and 37, trocar assembly (300) includes a drivearm (322), a longitudinal locking assembly (320), a trocar articulationband assembly (308), and a trocar (302). Trocar (302) includes a shaft(304) and a head (306). Head (306) is configured to selectively couplewith anvil (600) such that trocar (302) may drive anvil (600) toward andaway deck member (640) to compress and release tissue as describedabove, and as will be described in greater detail below. Trocar bandassembly (308) connects shaft (304) of trocar (302) with longitudinallocking assembly (320). Trocar band assembly (308) is sufficientlyflexible to bend in response to a clinician bending the longitudinalprofile of outer sheath (240) as described above.

Drive arm (322) includes a pair of distal engagement arms (326).Additionally, drive arm (322) defines a proximal clutch engagement notch(324). As will be described in more detail below, clutch engagementnotch (324) is configured to selectively couple with intermediate firingshaft (226) via clutch assembly (500) based on the pivotal position ofclosure trigger (32), when properly coupled. As will also be describedin more detail below, distal engagement arms (326) are configured toactuate the rest of trocar assembly (300) when clutch engagement notch(324) is selectively coupled with intermediate firing shaft (226) viaclutch assembly (500).

Longitudinal locking assembly (320) may help lock the position of trocar(302) relative to distal housing (260) and outer sheath (240) when drivearm (322) is stationary. In particular, longitudinal locking assembly(320) may help ensure that trocar (302), and in turn anvil (600), remainstationary when clutch engagement notch (324) and intermediate firingshaft (226) are no longer engaged.

As best seen in FIG. 33, intermediate firing shaft (226) defines arecess (234) and a distal slot (236). Recess (234) is dimensioned torotationally couple with a rotational shifter (502) of clutch assembly(500). In other words, rotational shifter (502) may rotate relative tointermediate firing shaft (226) around the longitudinal axis defined byintermediate firing shaft (226), but rotational shifter (502) islongitudinally fixed with intermediate firing shaft (226) such thatintermediate firing shaft (226) may longitudinally drive rotationalshifter (502).

As best seen in FIG. 47, distal slot (236) houses a driving pin (405) ofreciprocating drive member (400). Distal slot (236) extends from anadvancing surface (237) to a retracting surface (238). Advancing surface(237) and retracting surface (238) may abut against driving pin (405) toadvance or retract reciprocating drive member (400), respectively.Therefore, motion of intermediate firing shaft (226) where driving pin(405) is between advancing surface (237) or retracting surface (238),without touching either, does not drive reciprocating drive member(400). Therefore, motion of intermediate firing shaft (226) wheredriving pin (405) does not abut against advancing surface (237) orretracting surface (238) may be used to independently actuate trocarassembly (300) relative to reciprocating drive member (400). In otherwords, the longitudinal length of distal slot (236) may be dimensionedfor the travel length required to actuate trocar assembly (300) toproperly couple with, and retract, anvil (600).

FIGS. 28-36C show clutch assembly (500) as a whole or selected portionsthereof. As best seen in FIG. 29, clutch assembly (500) includesrotational shifter (502), a translatable housing (510), a translatabletube (520), a U-shaped coupler (516), a sheath (530), a key member(540), and a key member housing (550). As will be described in greaterdetail below translatable housing (510) and U-shaped coupler (516) maylinearly drive translatable tube (520) to rotate shifter (502) toselectively engage and disengage intermediate firing shaft (226) withtrocar assembly (300).

Translatable housing (510) is fixed to translating shuttle (216).Therefore, movement of translating shuttle (216) results in movement oftranslatable housing (510). Translatable housing (510) defines a tubeopening (512) and a cutout (514). Tube opening (512) may receive aproximal end of translatable tube (520) while cutout (514) isdimensioned to couple with U-shaped coupler (516) such that longitudinalmovement of translatable housing (510) results in longitudinal movementof U-shaped coupler (516). U-shaped coupler (516) defines an interioropening (518) dimensioned to receive a portion of translatable tube(520) defining an exterior recess (524). Interior opening (518) ofU-shaped coupler (516) couples with exterior recess (524) oftranslatable tube (520) such that translatable tube (520) may rotateabout its longitudinal axis relative to U-shaped coupler (516), but alsosuch that translatable tube (520) longitudinally travels with U-shapedcoupler (516). Therefore, translation of translating shuttle (216) andtranslatable housing (510) may longitudinally drive U-shaped coupler(516) and translatable tube (520). Additionally, translatable tube (520)may rotate relative to U-shaped coupler (516) and translatable housing(510).

As described above, when properly coupled with handle assembly (11),translating shuttle (216) is configured to longitudinally actuate basedon the pivotal position of closure trigger (32). Therefore, the pivotalposition of closure trigger (32), when properly coupled withinterchangeable circular stapler attachment (150), may determine tolongitudinal position of translatable tube (520). In particular, whenclosure trigger (32) is in the non-actuated pivotal position (as shownin FIG. 4A), translatable tube (520) will be in a proximal position (asshown in FIG. 36A). When closure trigger (32) is in the actuated pivotalposition (as shown in FIG. 4B), translatable tube (520) will be in adistal position (as shown in FIGS. 36B-36C).

In addition to exterior recess (524), translatable tube (520) includes adistal camming surface (522). As will be described in greater detailbelow, translation of translatable tube (520) from the proximal positionto the distal position drives distal camming surface (522) against keymember (540) to rotate key member (540) and rotational shifter (502) todecouple trocar assembly (300) from intermediate firing shaft (226). Abiasing spring (526) is housed around translatable tube (526) between adistal end of translatable housing (510) and a proximally presentedinterior surface of chassis (218). Biasing spring (526) biasestranslatable tube (526) toward the proximal position. Therefore, if aclinician pivots closure trigger (32) from the actuated pivotal positionto the non-actuated pivotal position in accordance with the teachingsabove, biasing spring (526) may urge translatable tube (520) from thedistal position (as shown in FIG. 36B) to the proximal position (asshown in FIG. 36A).

Rotational shifter (502) includes a sector flange (504), couplingflanges (505), and radial protrusions (506) defining a slot (508).Additionally, rotational shifter (502) defines a through bore (509) thatreceives intermediate firing shaft (226). Coupling flanges (505)rotatably couple rotational shifter (502) with intermediate firing shaft(226) via recess (234) of intermediate firing shaft (226). Key member(540) is slidably disposed within slot (508). Key member (540) alsoincludes a laterally presented camming arm (542) that is housed within acircumferential key member slot (554) of key member housing (550).

Sector flange (504) is dimensioned to rotate into and out of engagementwith clutch engagement notch (324) of drive arm (322) of trocar assembly(300), depending on the rotational position of rotational shifter (502).When sector flange (504) is engaged with drive arm (322) of trocarassembly (300), translation of intermediate firing shaft (226) willdrive translation of drive arm (322) of trocar assembly (300), therebyactuating trocar assembly (300). When sector flange (504) is not engagedwith drive arm (322) of trocar assembly (300), translation ofintermediate firing shaft (226) will not affect the position of drivearm (322) or trocar assembly (300).

Translatable tube (520) houses sheath (530), while sheath (530) housesintermediate firing shaft (226) and rotational shifter (502). Sheath(530) defines a lateral opening (532), a first distal opening (534), anda second distal opening (536). Lateral opening (532) is sized toaccommodate laterally presented camming arm (542), radial protrusions(506), and sector flange (504) such that all may extend from an interiorof sheath (530) to an exterior of sheath (530). Additionally, lateralopening (532) extends along a longitudinal length to accommodatetranslation of rotational shifter (502). First distal opening (534) isdimensioned to slidably receive intermediate firing shaft (226), whilesecond distal opening is dimensioned to slidably receive drive arm (322)of trocar assembly (300). Therefore, intermediate firing shaft (226) anddrive arm (322) of trocar assembly (300) may longitudinal translaterelative to sheath (530).

Key member housing (550) defines a tube opening (552) andcircumferential key member slot (554). Tube opening (552) slidablyhouses translatable tube (520). A terminating end of circumferential keymember slot (554) is configured to abut against laterally presentedcamming arm (542) such that rotation of laterally presented camming arm(542) in one direction forces rotation of key member housing (550) inthe same direction; and such that rotation of key member housing (550)in a second, opposite, direction forces rotation of laterally presentedcamming arm (542) in the second direction.

Both sheath (530) and key member housing (550) are longitudinally fixedrelative to nozzles (212, 214) or proximal housing (210). Sheath (530)is also rotational fixed to nozzles (212, 214) such that sheath (530)may not rotate relative to nozzles (212, 214) about the longitudinalaxis defined by intermediate firing shaft (226). Key member housing(550) is ratably coupled to nozzles (212, 214) such that key memberhousing (550) may rotate relative to nozzles (212, 214) about thelongitudinal axis defined by intermediate firing shaft (226). However,key member housing (550) includes a torsion spring (556) that interactswith an interior defined by nozzles (212, 214) to rotationally bias keymember housing (550) to a first angular position (as shown in FIGS. 28and 36A). As will be described below, torsion spring (556) allows keymember housing (550) to urge key member (540) to rotate shifter (502)back into engagement with drive arm (322) once translatable tube (520)moves from the distal position (as shown in FIG. 36B) back to theproximal position (as shown in FIG. 36A).

FIGS. 36A-36C show exemplary use of clutch assembly (500) to disengagetrocar assembly (300) from intermediate firing shaft (226). FIG. 36Ashows translating shuttle (216) and translatable housing (510) in theproximal position. It should be understood, at this point, closuretrigger (32) is in the non-actuated pivotal position (as shown in FIG.4A). Therefore, a clinician may activate control rocker (112) such thatmotor (118) may longitudinally drive both longitudinal drive member (86)and intermediate firing shaft (226). At the position shown in FIG. 36A,sector flange (504) of rotational shifter (502) is engaged with clutchengagement notch (324) of drive arm (322). Therefore, if a clinicianactivates control rocker (112) to driver longitudinal driver member (86)and intermediate firing shaft (226), trocar assembly (300) will alsoactuate relative to outer sheath (240) and distal housing (260). Asmentioned above, intermediate firing shaft (226) defines distal slot(236) housing drive pin (405) of reciprocating drive assembly (400) suchthat intermediate firing shaft (226) may actuate trocar assembly (300)along a length determined by distal slot (236) without actuatingreciprocating drive member (400).

When a clinician no longer desires to actuate trocar assembly (300),such as when a clinician suitably couples trocar (302) with anvil (600)and retracts trocar (600) and anvil (600) to suitably compress tissue,the clinician may pivot firing trigger (32) to the actuated pivotalposition (as shown in FIG. 4B). As mentioned above, when firing trigger(32) is in the actuated pivotal position, control rocker (112) may nolonger activate motor (118), as firing trigger (33) may now activatemotor (118) to drive intermediate firing shaft (226). As discussedabove, when closure trigger (32) is in the actuated pivotal position,translating shuttle (216) and translatable housing (510) move from theproximal position (as shown in FIG. 36A) to the distal position (asshown in FIG. 36B). Additionally, translatable tube (520) moves from theproximal position to the distal position such that camming surface (522)forces laterally presented camming arm (542), key member (540),rotational shifter (502), and key remember housing (550) to rotate inthe first angular direction from an engaged position to a disengagedposition. In the disengaged position, as shown in FIG. 36B, sectorflange (504) is rotated out of engagement with clutch engagement notch(324) of drive arm (322). Therefore, actuation of intermediate driveshaft (226) no longer actuates drive arm (322) or trocar assembly (300).Drive arm (322) is aligned with slot (508) of rotational shifter (502)such that drive arm (322) may be accepted by slot (508) in response todistal translation of rotational shifter (502).

Next, a clinician may activate firing trigger (33), which may actuateintermediate drive shaft (226) relative to trocar assembly (300) todrive reciprocating drive assembly (400) in accordance with thedescription below. As best seen in FIG. 36C, intermediate drive shaft(226) and rotational shifter (502) actuate independently from trocarassembly (300) due to sector flange (504) being disengaged with drivearm (322). Therefore, intermediate drive shaft (226) may longitudinallytravel to abut against drive pin (405) of reciprocating drive assembly(400) with advancing surface (237) and retracting surface (238) toadvance and retract reciprocating drive assembly (400), respectively.

Once reciprocating drive assembly (400) completes its firing cycle, aswill be described in greater detail below, intermediate firing shaft(226) may return to the position shown in FIG. 36B. Encoder (115) maycommunicate all relative positions of longitudinal drive member (86),and therefore intermediate firing shaft (226), to control circuit (117).Therefore, control circuit (117) may instruct motor (118) to drivelongitudinal drive member (86) and intermediate firing shaft (226) toall suitable positions. For instance, control circuit (117) may storethe longitudinal position of drive member (86) and intermediate firingshaft (226) when a clinician pivots closure trigger (32) from thenon-actuated pivotal position (as shown in FIG. 4A) to the actuatedpivotal position (as shown in FIG. 4B), thereby storing the position ofintermediate firing shaft (226) at the position shown in FIG. 36B.

A clinician may desire to once again regain control of trocar assembly(300) to actuate anvil (600) away from a newly formed anastomosis, aswill be described in greater detail below. A clinician may then pivotclosure trigger (32) from the actuation pivotal position (as shown inFIGS. 4B-4C), back to the non-actuated pivotal position (as shown inFIG. 4A) in accordance with the description above. With closure trigger(32) in the non-actuated pivotal position, translating shuttle (216),translatable housing (510), and translating tube (520) may move from thedistal position back to the proximal position (as shown in FIG. 36A)such that camming surface (522) of translating tube (520) no longercontacts laterally presented camming arm (542). As mentioned above,torsion spring (556) rotationally biases key member housing (550) andkey member (540) back to the angular position shown in FIG. 36A.Therefore, rotational shifter (502) is also rotated back to the positionshown in FIG. 36A such that sector flange (504) reengages drive arm(322) of trocar assembly (300). Because sector flange (504) is reengagedwith drive arm (322), and because closure trigger (32) is back in thenon-actuated pivotal position, a clinician may activate motor (118) viacontrol rocker (112) to actuate trocar assembly (300) and anvil (600).

E. Exemplary Trocar Longitudinal Locking Assembly

As mentioned above, trocar assembly (300) includes a longitudinallocking assembly (320) that may help lock the position of trocar (302)relative to distal housing (260) and outer sheath (240) when drive arm(322) is stationary. In particular, this may be useful to ensure trocar(302) and anvil (600) have sufficiently compressed tissue betweenproximal surface (604) of anvil (600) and distally presented decksurface (642) of deck member (640) during the stapling and severingprocess, as described in greater detail below.

As best seen in FIGS. 38-39, longitudinal locking assembly (320)includes drive arm (322), a longitudinally extending pin (328) fixedlyattached to a fixed body (330), a band coupling body (340) fixedlyattached to trocar actuation band assembly (308), a first and secondplurality of locking members (350, 360) slidably coupled along pin(328), and a bias member (370) disposed along pin (328) between firstand second plurality of locking members (350, 360). As will be discussedin greater detail below, first and second plurality of locking members(350, 360) are biased against pin (328) to provide a frictional breakingforce between band coupling body (340) and fixed body (330), therebyhelping maintain the longitudinal position of band coupling body (340),actuation band assembly (308), and trocar (302). As will also bedescribed in greater detail below, engagement arms (326) of drive arm(322) are configured to abut against first or second plurality oflocking members (350, 260) to compress bias member (370), therebyreducing the frictional breaking force to accommodate longitudinalmovement of band coupling body (340), actuation band assembly (308), andtrocar (302).

Fixed body (330) provides a mechanical ground for longitudinal lockingassembly (320). In particular, fixed body (330) includes a sheathcoupling arm (332) that mates with a hole in outer sheath (340).Therefore, fixed body (330) is fixed relative to outer sheath (340).Fixed body (330) also defines a pin cutout (334) dimensioned to fixedlycouple with pin (328) such that pin (328) also acts as a mechanicalground for longitudinal locking assembly (320).

Band coupling body (340) includes a distal coupling arm (342), and apair of lateral pin arms (344) each defining pin holes (346). Pin holes(346) are dimensioned to slidably receive pin (328) such that bandcoupling body (340) may longitudinally translate along a path defined bypin (328). Distal coupling arm (342) is fixed to actuation band assembly(308) such that translation of band coupling body (340) along the pathdefined by pin (328) leads to translation of actuation band assembly(308) and trocar (302). Additionally, band coupling body (340) defines arecess (348) configured to house a portion of first and second pluralityof locking members (350, 360). Recess (348) is at least partiallydefined by a pair of contact walls (345) configured to contact portionsof first and second plurality of locking members (350, 360).

First and second plurality of locking members (350, 360) each includelocking members (352, 362) having a central portion (354, 364) and alateral portion (356, 366), respectively. Central portions (354, 364)are slidably disposed on pin (328) while lateral portions (356, 366)extend into recess (348) of band coupling body (340). Engagement arms(326) are positioned above and extend laterally across pin (328) tohouse central portion (354, 364) of locking members (352, 362),respectively. As best seen in FIG. 44A, when first and second pluralityof locking members (350, 360) are in the locked position, bias member(370) pushes central portions (354, 364) away from each other. Withcentral portions (354, 364) biased away from each other, a frictionalbreaking force is provided to help maintain longitudinal position ofband coupling body (340).

FIGS. 44A-44D show exemplary use of longitudinal locking system (320).FIG. 44A shows longitudinal locking system (320) in the locked positionwhile drive arm (322) and band coupling body (340) are in a firstlongitudinal position. As described above, a clinician may activatemotor (118) with control rocker (112) while closure trigger (32) is inthe non-actuated pivotal position.

Motor (118) may longitudinally drive longitudinal drive member (86) andintermediate firing shaft (226), as shown in FIG. 44B, which in turn isengaged with drive arm (322) via clutch assembly (500) according to thedescription above. One engagement arm (326) of drive arm (322) may abutagainst either first or second plurality of locking members (350, 360).In the current example, as shown in FIG. 44B, drive arm (322) is beingactuated in the proximal direction, so a distal engagement arm (326) isabutting against second plurality of locking members (360). It should beunderstood that if drive arm (322) were being actuated in the distaldirection, a proximal engagement arm (326) would abut against firstplurality of locking members (350) to obtain similar results. Withdistal engagement arm (326) abutting against second plurality of lockingmembers (360), first and second plurality of locking members (350, 360)may compress bias member (370) such that central portions (354, 364)reduce the amount of frictional breaking force between pin (328) andband coupling body (340).

The reduction in frictional breaking force may allow for drive arm (322)to actuate first and second plurality of locking members (350, 360),such that lateral portions (356, 366) of locking members (352, 362) maydrive band coupling body (340), actuation band assembly (308), andtrocar (302) in the proximal direction as well, as shown in FIG. 44C. Inparticular, lateral portions (356, 366) may abut against contact walls(345) of band coupling body (340) to drive band coupling body (340).When motor (118) stops actuating drive arm (322) in accordance with thedescription above, distal engagement arm (326) may stop abutting againstcentral portions (364) of second plurality of locking members (360). Asa result, as shown in FIG. 44D, biasing member (370) may once againspace first and second plurality of locking members (350, 360) away fromeach other to provide sufficient frictional breaking force in the lockedposition.

F. Exemplary Reciprocating Drive Assembly of Shaft Assembly

As mentioned above, reciprocating drive assembly (400) sequentiallyactuates outer staple driver (750), inner staple driver assembly (770),and blade assembly (710) to independently fire a first annular row ofstaples, a second annular row of staples, and then blade member (712) tosever excess tissue. FIGS. 45-48 show reciprocating drive assembly(400).

Reciprocating drive assembly (400) includes a first flexible spineportion (402), a second flexible spine portion (404), and a drivingmember (420). First flexible spine portion (402) and second flexiblespine portion (404) couple together to form a pathway for slidablyhousing trocar assembly (300). First flexible spine portion (402) andsecond flexible spine portion (404) are also slidably housed withinouter sheath (240). First flexible spine portion (402) and secondflexible spine portion (404) are sufficiently flexible to bend inresponse to a clinician bending the longitudinal profile of outer sheath(240) as described above.

The proximal end of first flexible spine portion (402) includes drivepin (405) housed within distal slot (236) of intermediate firing shaft(226). As described above, intermediate firing shaft (226) is configuredto drive reciprocating drive assembly (400) by contact between advancingsurface (237) or retracting surface (238) with drive pin (405). While inthe current example, interaction between drive pin (405) andintermediate firing shaft (226) drive reciprocating drive assembly(400), any other suitable means may be used as would be apparent to onehaving ordinary skill in the art in view of the teachings herein.

The distal end of first flexible spine portion (402) includes a trocarsheath (406). Trocar sheath (406) defines a trocar pathway (412) thatmay further slidably house trocar (302). As best seen in FIG. 48, thedistal end of trocar sheath (406) includes a pair of tabs (408) and adistally presented annular face (410). Tabs (408) and distally presentedannular face (410) are configured to rotatably couple with drivingmember (420) such that driving member (420) may rotate about thelongitudinal axis defined by trocar sheath (406), yet also allowingtrocar sheath (406) to actuate driving member (420) in response tomovement of intermediate firing shaft (226) in accordance with thedescription above.

Driving member (420) includes a ring (422) defining an opening (424),with three driving forks (426) distally extending from ring (422). Ring(422) may be housed between tabs (408) and distally presented annularface (410) to rotatably couple driving member (420) with trocar sheath(406). As will be described in greater detail below, driving forks (426)may selectively drive corresponding firing legs (732, 754, 774) viainteraction with corresponding drive couples (734, 756, 776) of bladeassembly (710), outer staple driver (750), and inner staple driversections (780), respectively. Additionally, one driving fork (426)includes a guide pin (428) extending radially outward from ring (422).As will be described in greater detail below, guide pin (428) isoperable travel through drive assembly pathway (380) defined by outersheath (240) and distal housing (260) to rotationally align drivingforks (426) to drive outer staple driver (750), inner staple driverassembly (770), or blade assembly (710).

G. Exemplary Use of Interchangeable Circular Stapler Attachment

FIGS. 49A-51I show interchangeable circular stapler attachment (150) andhandle assembly (11) being used to perform an end-to-end anastomosis.First, FIGS. 49A-49C show trocar (302) coupling with and retractinganvil (600) to compress tissue from ends of a first tubular anatomicalstructure (T1) and a second tubular anatomical structure (T2).

As shown in FIG. 49A, anvil (600) is positioned in first tubularanatomical structure (T1) while outer sheath (240) and distal housing(260) are positioned in second tubular anatomical structure (T2). Inversions where tubular anatomical structures (T1, T2) comprise sectionsof a patient's colon, outer sheath (240) and distal housing (260) may beinserted via the patient's rectum. It should also be understood that theprocedure depicted in FIGS. 49A-51I is an open surgical procedure,though the procedure may instead be performed laparoscopically. Varioussuitable ways in which interchangeable circular stapler attachment (150)may be used to form an anastomosis in a laparoscopic procedure will beapparent to those of ordinary skill in the art in view of the teachingsherein.

As shown in FIG. 49A, anvil (600) is positioned in first tubularanatomical structure (T1) such that shank (614) protrudes from the opensevered end of first tubular anatomical structure (T1). A purse-stringsuture (not shown) is provided about a mid-region of shank (614) togenerally secure the position of anvil (600) in first tubular anatomicalstructure (T1). Similarly, distal housing (260) is positioned in secondtubular anatomical structure (T2) such that trocar (302) protrudes fromthe open severed end of second tubular anatomical structure (T2). Apurse-string suture (not shown) is provided about shaft (304) togenerally secure the position of distal housing (260) in second tubularanatomical structure (T2).

Next, anvil (600) is secured to trocar (302) by inserting trocar (302)into bore (616) as shown in FIG. 49B. As mentioned above, anvil (600)may secure to trocar (302) by any suitable means as would be apparent toone having ordinary skill in the art in view of the teachings herein,such as a latch snap fitting with head (306) of trocar (302). Next, theclinician may then retract trocar (302) and anvil (600) by activatedcontrol rocker (112) while closure trigger (32) is in the non-actuatedpivotal position (as shown in FIG. 4A). As described above, trocarassembly (330) may be engaged with intermediate firing shaft (226) viaclutch assembly (500) so that intermediate firing shaft (226) drivestrocar assembly (330) independently of reciprocating drive assembly(400). Additionally, longitudinal locking assembly (320) may function inaccordance with the description above.

As shown in FIG. 49C, this proximal retraction of trocar (302) and anvil(600) compresses the tissue of tubular anatomical structures (T1, T2)between surfaces proximal surface (604) of anvil (600) and distallypresented deck surface (642) of deck member (640). As described above,encoder (115) may communicate with control circuit (117) thelongitudinal position of intermediate shaft assembly (226). Controlcircuit (117) may use the longitudinal position of intermediate shaftassembly (226) to determine a gap distance (d) between proximal surface(604) and distally presented deck surface (642). Control circuit (117)may then communicate this gap distance (d) to the clinician viagraphical user interface (116). Control circuit (117) may furthercalculate whether this gap distance is sufficient to perform anend-to-end anastomosis, and communicate that information to theclinician. Therefore, the clinician may adjust the gap distance (d) viacontrol rocker (112) to acquire an appropriate gap distance (d), andconfirm the appropriate gap distance (d) via graphical user interface(116).

Once the clinician has appropriately set the gap distance (d) viagraphical user interface (116), the clinician may pivot closure trigger(32) from the non-actuated pivotal position (as shown in FIG. 4A) to theactuated pivotal position (as shown in FIG. 4B). As described above,clutch assembly (500) then disengages trocar assembly (300) fromintermediate firing shaft (226) so that intermediate firing shaft (226)may actuate reciprocating drive assembly (400). At this point, aclinician may press firing trigger (33) to start the firing sequence.

As mentioned above, camming face (245) of drive assembly pathway (380)is configured to properly orient driving member (420) of reciprocatingdrive assembly (400) based on a longitudinal position of reciprocatingdriver assembly (400) to sequentially drive outer staple driver (750),inner staple driver assembly (770), and blade assembly (710). FIG. 50Ashows driving member (420) in an initial pre-firing position, or a firstproximal position. Control circuit (117) may store the first proximalposition for purposes of instructing motor (118) to properly drivereciprocating drive assembly (400) in accordance with the descriptionherein. Guide pin (428) of driving member (420) is initially locatedwithin first stapling pathway (380) and distal relative to camming face(245) in the first proximal position. Driving forks (426) are alignedwith corresponding drive couplers (756) of outer staple driver (750).

Additionally, FIG. 51A shows tissue from tubular anatomical structures(T1, T2) between anvil (600) and deck member (640) in the pre-firedposition. As can be seen in FIG. 51A, staples (702) are retained withinouter and inner concentric annular array of staple openings (644, 645)in the pre-fired position; while staples drivers (752, 772) are slidablydisposed within concentric annular array of staple openings (644, 645),respectively, under corresponding staples (702). Additionally, staples(702) are aligned with both outer and inner annular array of stapleforming pockets (606, 608).

After a clinician actuates firing trigger (33), control circuit (117)may instruct motor (118) to actuate intermediate drive shaft (226) todrive reciprocating drive assembly (400) from the first proximalposition to a first distal position within first stapling pathway (382),as shown in FIG. 50B. Guide pin (428) is still within first staplingpathway (382) but in the first distal position. Driving forks (426)actuate corresponding firing legs (754) of outer staple driver (750)distally. As can be seen in FIG. 51B, staple drivers (752) are actuateddistally in response to driving forks (426) actuating from the firstproximal position to the first distal position. Staple drivers (752) ofouter staple driver (750) drive staples (702) through outer concentricannular array of staple opening (644) into outer annular array of stapleforming pockets (606), thereby stapling tissue from tubular anatomicalstructures (T1, T2) between anvil (600) and deck member (640) together.At this point, staples (702) within inner concentric annular array ofstaple opening (645) as well as blade assembly have yet to be fired.

Next, as shown in FIG. 50C, control circuit (117) may instruct motor(118) to actuate intermediate drive shaft (226) to drive reciprocatingdrive assembly (400) from the first distal position to a second proximalposition. As reciprocating drive assembly (400) translates from thefirst distal position to the second proximal position, guide pin (428)translates through first stapling pathway (382), into connection channel(388). While guide pin (428) translates through connection channel(388), guide pin (428) contacts camming face (245). As described above,driving member (420) is rotatably coupled with trocar sheath (406).Therefore, contact between camming face (245) and guide pin (428)rotates driving member (420) relative to trocar sheath (406) such thatdriving forks (426) are aligned with second stapling pathway (382) anddrive coupler (776) of corresponding firing legs (774) of inner stapledriver sections (280). As seen in FIG. 51C, staple driver (752) of outerstaple driver (750) may return to their non-fired position within deckmember (640).

At this point, control circuit (117) may instruct motor (118) to restfor a predetermined amount of time to let recently fired staples (702)form between tubular anatomical structures (T1, T2). This may providetime for the tissue to normalize as fluids are progressively squeezedout during staple formation. However, this is merely optional.

Next, as in FIG. 50D, control circuit (117) may instruct motor (118) toactuate intermediate drive shaft (226) to drive reciprocating driveassembly (400) from the second proximal position to a second distalposition within second stapling pathway (384). Second interiorprotrusion (276) includes a proximal presented chamfered edge.Therefore, if reciprocating drive assembly (400) as actuated to aposition slightly distal as compared to the intended second proximalposition, guide pin (428) may cam against the chamfered edge of secondinterior protrusion (276) to urge guide pin (428) within second staplingpathway (382) while translating toward the second distal position.Driving forks (426) actuate corresponding firing legs (774) of innerstaple driver assembly (770) distally. As can be seen in FIG. 51D,staple drivers (772) are actuated distally in response to driving forks(426), actuating from the second proximal position to the second distalposition. Staple drivers (772) of inner staple drive assembly (770)drive staples (702) through inner concentric annular array of stapleopening (645) into inner annular array of staple forming pockets (608),thereby stapling tissue from tubular anatomical structures (T1, T2)between anvil (600) and deck member (640) together. At this point,staples (702) from both inner and outer concentric annular array ofstaple opening (645, 644) have been fired, yet blade assembly (710) hasyet to have fired.

Next, as shown in FIG. 50E, control circuit (117) may instruct motor(118) to actuate intermediate drive shaft (226) to drive reciprocatingdrive assembly (400) from the second distal position to a third proximalposition. As reciprocating drive assembly (400) translates from thesecond distal position to the third proximal position, guide pin (428)translates through second stapling pathway (384), into connectionchannel (388). While guide pin (428) translates through connectionchannel (388), guide pin (428) contacts camming face (245). As describedabove, driving member (420) is rotatably coupled with trocar sheath(406). Therefore, contact between camming face (245) and guide pin (428)rotates driving member (420) relative to trocar sheath (406) such thatdriving forks (426) are aligned with blade actuation pathway (386) anddrive coupler (734) of corresponding firing legs (732) of blade assembly(710). As seen in FIG. 51E, staple drivers (772) of inner staple driverassembly (770) may return to their non-fired position within deck member(640).

At this point, control circuit (117) may instruct motor (118) to restfor a predetermined amount of time to let recently fired staples (702)form between tubular anatomical structures (T1, T2). This may providetime for the tissue to normalize as fluids are progressively squeezedout during staple formation. However, this is merely optional.

Next, as shown in FIG. 50F, control circuit (117) may instruct motor(118) to actuate intermediate drive shaft (226) to drive reciprocatingdrive assembly (400) from the third proximal position to a third distalposition within blade actuation pathway (386). Driving forks (426)actuate corresponding firing legs (732) of blade assembly (730)distally. As can be seen in FIG. 51F, blade member (712) is actuateddistally in response to driving forks (426) actuating from the thirdproximal position to the third distal position. Distal cutting edge(714) of blade assembly (710) sever tissue from tubular anatomicalstructures (T1, T2) interior in relation to staples (702), therebyremoving excess tissue. At this point, all staples (702) have been firedand blade assembly (710) has severed excess tissue.

Next, as shown in FIG. 50G, control circuit (117) may instruct motor(118) to actuate intermediate drive shaft (226) to drive reciprocatingdrive assembly (400) from the third distal position back to the initial,first proximal position. As shown in FIG. 51G, blade assembly (710) mayretract toward the pre-fired position with excess tissue within tissuecavity housing (722).

With intermediate drive shaft (226) back at the location required todrive reciprocating drive assembly (400) to the first proximal position,control circuit (117) may then instruct motor (118) to actuateintermediate drive shaft (226) to the position where sector flange (504)is longitudinally aligned with clutch engagement notch (324) of drivearm (322). A clinician may then then pivot closure trigger (32) from theactuated pivotal position to the non-actuated pivotal position inaccordance with the teachings herein. As described above, with closuretrigger (32) in the non-actuated pivotal position, clutch assembly (500)connects intermediate firing shaft (226) with trocar assembly (300).Therefore, a clinician may activate control rocker (112) to drive trocar(302) distally such that tissue of tubular anatomical structures (T1,T2) between proximal surface (604) of anvil and distally presented decksurface (642) of deck member (640) is released, as shown in FIG. 51H.Next, a clinician may remove interchangeable circular stapler attachment(150) from the surgical site, leaving a newly formed end-to-endanastomosis, as shown in FIG. 51I.

In the current example, reciprocating drive assembly (400) is configuredto drive outer staple driver (750), inner staple driver assembly (770),and blade assembly (710) in sequential order independently of eachother. However, it should be apparent that one having ordinary skill inthe art may modify reciprocating drive assembly (400), distal outersheath (240), distal housing (260), and end effector (158) to driveinner staple drive assembly (770) prior to driving outer staple driver(750), then drive blade assembly (710). Additionally, one havingordinary skill in the art may modify interchangeable circular staplerattachment (150) to fire either one of outer staple driver (750) andinner staple driver assembly (770) simultaneously with drive bladeassembly (710) after a first row of annular staples is formed. While inthe current example, staples (702) were independently driven insequential order determined on and inner and outer annular array ofstaples, any other suitable sequential order may be used as would beapparent to one having ordinary skill in the art in view of theteachings herein. For example, staples (702) may be fired incircumferential sections, circumferential patterns, etc. Other, similarmodifications regarding actuation of stapling and cutting assembly (700)will be apparent to one having ordinary skill in the art in view of theteachings herein.

As mentioned above, camming face (245) of drive assembly pathway isconfigured to properly orient driving member (420) of reciprocatingdrive assembly (400) based on the longitudinal position of reciprocatingdriver assembly (400) to align driving forks (426) with correspondingmembers of outer staple driver (450), inner staple driver assembly (470)and blade assembly (410). In particular, guide pin (428) of drivingmember (420) may travel within connecting channel (388) to rotatedriving member (420) to properly orient driving member (420). In someinstances, reciprocating drive assembly (400) may actuate too farproximally, thereby over rotating guide pin (428) such that guide pin(428) is not properly aligned with first stapling channel (382) orsecond stapling channel (384) before driving member (420) actuates outerstaple driver (450) or inner stapler driver assembly (470),respectively. If this occurs, driving member (420) may be prevented fromdriving outer staple driver (750) or inner staple driver assembly (770)due to this misalignment. Therefore, may be desirable to prevent guidepin (428) from traveling too far within drive assembly pathway (380)such that guide pin (428) may not over rotate driving member (420)before traveling within first stapling pathway (382) or second staplingpathway (384).

FIGS. 61A-61E show an alternative drive assembly pathway (980) that maybe implemented into shaft assembly (156) in replacement of driveassembly pathway (380) described above. Drive assembly pathway (980)includes a first stapling pathway (982), a second stapling pathway(984), a blade actuation pathway (986), and a connecting channel (988),which are substantially similar to first stapling pathway (382), secondstapling pathway (384), and blade actuation pathway (386), andconnecting channel (388), respectively, with differences describedbelow. Therefore, first stapling pathway (982) is configured to receiveguide pin (428) of driving member (420) while driving member (420)actuates outer staple driver (750). Second stapling pathway (984) isconfigured to receive guide pin (428) of driving member (420) whiledriving member (420) actuates inner staple driver assembly (770). Bladeactuation pathway (986) is configured to receive guide pin (428) ofdriving member (420) while driving member (420) actuates blade assembly(710). Connecting channel (988) includes a camming face (945) configuredto cam against guide pin (428) to rotate driving member (420) toproperly align pin (428) with first stapling pathway (982), secondstapling pathway (984), and blade actuation pathway (986).

However, drive assembly pathway (980) also includes a first stop channel(983), a second stop channel (985), a first stop member (910), a secondstop member (920), a first catch (990), and a second catch (992). Firststop member (910) includes a camming member (912), a stopping member(912), a latch (916), and a bias member (918). Camming member (912) isslidably disposed within first stapling pathway (982) and unitarilyattached to both stopping member (914), and latch (916). Stopping member(914) is slidably disposed within first stop channel (983). Bias member(918) biases camming member (912), stopping member (914) and latch (916)toward the position shown in FIG. 61A. As also seen in FIG. 61A, aproximal end of stopping member (914) is within connecting channel (988)while guide pin (428) is in the first proximal, pre-fired position (i.e.before firing outer staple driver (750)). The proximal end of stoppingmember (914) within connecting channel (988) may prevent guide pin (428)from accidentally over rotating into misalignment with first staplingpathway (982) prior to driving member (420) actuating outer stapledriver (750) in accordance with the description above. Therefore, if aclinician accidently attempts to proximally actuate driving member (920)such that guide pin (428) tries to cam against camming face (945), priorto driving member (420) actuating outer staple driver (750), guide pin(428) will be stopped by contacting the proximal end of stopping member(914).

As seen in FIG. 61B, once driving member (420) suitably actuates outerstaple driver (750), guide pin (428) drives against camming member (912)to distally drive camming member (912), stopping member (914), and latch(916). As this point, stopping member (914) slides within first stopchannel (983) such that the proximal end of stopping member (914) nolonger obstructs connecting channel (988). Therefore, guide pin (428)may now rotate past stopping member (914) toward second stapling pathway(984). Additionally, latch (916) is actuated distally to interact withcatch (990). Latch (916) interacts with catch (990) such that biasingmember (918) may no longer bias the proximal end of stopping member(914) within connecting channel (918). Therefore, when guide pin (428)no longer abuts against camming member (912), camming member (912),stopping member (914), and latch (916) will remain in the distalposition shown in FIG. 61B.

Next, guide pin (428) may retract proximally, as shown in FIG. 61C, tocam against camming face (945) to rotate and align with second staplingpathway (984). Second stop member (920) includes a camming member (922),a stopping member (922), a latch (926), and a bias member (928). Cammingmember (922) is slidably disposed within second stapling pathway (984)and unitarily attached to both stopping member (924), and latch (926).Stopping member (924) is slidably disposed within second stop channel(985). Bias member (928) biases camming member (922), stopping member(924) and latch (926) toward the position shown in FIG. 61C. As alsoseen in FIG. 61C, a proximal end of stopping member (924) is withinconnecting channel (988) while guide pin (428) is in the secondproximal, pre-fired position (i.e. before firing inner staple driverassembly (770)). The proximal end of stopping member (924) withinconnecting channel (988) may prevent guide pin (428) from accidentallyover rotating into misalignment with second stapling pathway (984) priorto driving member (420) actuating inner staple driver assembly (770) inaccordance with the description above. Therefore, if a clinicianaccidently attempts to proximally actuate driving member (920) such thatguide pin (428) tries to cam against camming face (945), prior todriving member (420) actuating inner staple driver assembly (770), guidepin (428) will be stopped by contacting the proximal end of stoppingmember (924).

As seen in FIG. 61D, once driving member (420) suitably actuates innerstaple driver assembly (770), guide pin (428) drives against cammingmember (922) to distally drive camming member (922), stopping member(924), and latch (926). As this point, stopping member (924) slideswithin second stop channel (985) such that the proximal end of stoppingmember (924) no longer obstructs connecting channel (988). Therefore,guide pin (428) may now rotate past stopping member (924) toward bladeactuation pathway (986). Additionally, latch (926) is actuated distallyto interact with catch (992). Latch (926) interacts with catch (992)such that biasing member (928) may no longer bias the proximal end ofstopping member (924) within connecting channel (918). Therefore, whenguide pin (428) no longer abuts against camming member (922), cammingmember (922), stopping member (924), and latch (926) will remain in thedistal position shown in FIG. 61D.

Next, guide pin (428) may retract proximally, as shown in FIG. 61E, tocam against camming face (945) to rotate and align with blade actuationpathway (986). Driving member (420) may then actuate blade assembly(710) in accordance with the teachings above.

III. Exemplary Use of Circular Stapler Attached with Varying CompressedStaple Heights

In some instances, it may be desirable to improve hemostasis betweentubular anatomical structures (T1, T2) attached through fired staples(702) as described above. Therefore, it may be desirable to adjust thestaple compression height of staples (702) fired against anvil (600). Itmay further be desirable to independently adjust staple compressingheight of staples (702) corresponding to outer staple driver (750) andinner staple driver assembly (770), respectively, or any other patternin which staples (702) are sequentially fired.

As described above, when interchangeable circular stapler attachment(150) and handle assembly (11) are properly coupled, control circuit(117) may instruct motor (118) to drive longitudinal drive member (86)and intermediate firing shaft (226) of interchangeable circular staplerattachment (150) to longitudinally actuate guide pin (428) of drivingmember (420) through drive assembly pathway (380) in response to aclinician pressing firing trigger (33). Control circuit (117) may useinformation from encoder (115) and markings (85) to determine thelongitudinal position of longitudinal drive member (86), and thereforeintermediate firing shaft (226), to instruct motor (118) on the properpositioning of driving member (420).

Control circuit (117) may instruct motor (118) to drive reciprocatingdrive assembly (400) to actuate driving member (420) from a firstproximal position (as shown in FIG. 50A) to a first distal position (asshown in FIG. 50B) to drive staples (702) corresponding with outerstaple driver (750) through compressed tissue (T1, T2) against anvil(600). When actuating from the first proximal position to the firstdistal position, guide pin (428) travels within first stapling pathway(382). Next, control circuit (117) may instruct motor (118) to drivereciprocating drive assembly (400) to actuate drive member (420) fromthe first distal position to a second proximal position (as shown inFIG. 50C) to align driving forks (426) with inner staple driver sections(780) of inner staple driver assembly (770). Control circuit (117) maythen instruct motor (118) to drive reciprocating drive assembly (400) toactuate drive member (420) from the second proximal position to thesecond distal position (as shown in FIG. 50D) to drive staples (702)corresponding with inner staple driver assembly (770) through compressedtissue (T1, T2) against anvil (600). When actuating from the secondproximal position to the second distal position, guide pin (428) travelswithin second stapling pathway (384).

Control circuit (117) may then instruct motor (118) to drivereciprocating driver assembly (400) to actuate drive member (420) fromthe second distal position to a third proximal position (as shown inFIG. 50E) to align driving forks (426) with blade assembly (710).Control circuit (117) may then instruct motor (118) to drivereciprocating driver assembly (400) from the third proximal position tothe third distal position (as shown in FIG. 50F) to sever excess tissueinterior of recently formed annular arrays of staples (702). Whenactuating from the third proximal position to the third distal position,guide pin (428) is within blade actuation pathway (386).

As will be described in greater detail below, control circuit (117) maymodify the longitudinal locations of the first and second distalpositions that motor (118) actuates drive member (420) toward, which inturn may determine how far staples (702) are driven against anvil (600).The compression height of recently fired staples (702) may be determinedby how far staples (702) are driven against anvil (600). The furtherstaples (702) are driven against anvil (600) (i.e. the more distal drivemember (420) actuates), the shorter the compression height of staples(702). Conversely, the shorter staples (702) are driven against anvil(600) (i.e. the less distal drive member (420) actuates), the longer thecompression height of staples (702). Therefore, control circuit (117)may adjust compression height of staples (702) fired by the outerstaples driver (750) and the inner staple driver assembly (770), byadjusting the first and second distal position of drive member (420),respectively.

FIGS. 52A-55B show driving member (420) driving either outer stapledriver (750) or inner staple driver assembly (770) to alternative distalpositions (h2, h3). FIGS. 50A-50B and FIGS. 50C-50D already show outerstaple driver (750) and inner staple driver assembly (770) being drivento alternative distal position (h1), respectively. Additionally, FIGS.56-59 show a single staple (702) driven by staples driver (752, 772) ofeither outer staple driver (750) or inner staple driver assembly (770),from a pre-fired position (FIG. 56), against either an outer or innerstaple forming pocket (606, 608) to a position corresponding to analternative distal position (h1, h2, h3).

As shown in FIG. 56, staple (702) includes a crown (706) and two legs(704) extending distally from crown (706). When fired, legs (704) areconfigured to bend against staple forming pockets (606, 608) to bendstaple (702) into a substantial “B” shape.

FIGS. 50A-50B and FIGS. 50C-50D show outer staple driver (750) or innerstaple driver assembly (770) driving to alternative distal position(h1), while FIG. 57 shows the corresponding “B” shaped staple (702)formed from staple driver (752, 772) when outer staple driver (750) orinner staple driver assembly (770) travel to alternative distal position(h1).

FIGS. 52A-52B and FIGS. 54A-54B show outer staple driver (750) or innerstaple driver assembly (770) driving to alternative distal position(h2), while FIG. 58 shows the corresponding “B” shaped staple (702)formed from staple driver (752, 772) when outer staple driver (750) orinner staple driver assembly (750) travel to alternative distal position(h2).

FIGS. 53A-53B and FIGS. 55A-55B show outer staple driver (750) or innerstaple driver assembly (770) driving to alternative distal position(h3), while FIG. 58 shows the corresponding “B” shaped staple (702)formed from staple driver (752, 772) when outer staple driver (750) orinner staple driver assembly (750) travel to alternative distal position(h3).

As can be seen, in FIGS. 52A-55B, alternative distal position (h1) isdistal compared to both alternative distal positions (h2, h3); whilealternative distal position (h3) is proximal compared to bothalternative distal positions (h1, h2); leavings alternative distalposition (h2) in-between both alternative distal positions (h1, h3).Therefore, when outer staple driver (750) or inner staple driverassembly (770) are driven to alternative distal position (h1), as shownin FIG. 57, legs (704) compress the furthest back toward crown (706),creating the shortest compressed staple height. When outer staple driver(750) or inners staple driver assembly (770) are driven to alternativedistal position (h2), as shown in FIG. 58, legs (704) compress less ascompared to alternative distal position (h1), creating a longercompressed staple height. And finally, when outer staple driver (750) orinner staple driver assembly (770) are driven to alternative distalposition (h3), as shown in FIG. 59, legs (704) compress the least ascompared to alternative distal positions (h1, h2), creating the longestcompressed staple height. Because outer staple driver (750) and innerstaple driver assembly (770) may be actuated independently from eachother, they may compress corresponding staples (702) at differentcompressed staple heights.

FIG. 60 shows an exemplary staple compression height adjusting process(800) that may be used by control circuit (117) to modify the controlalgorithm of the firing process described above to change the first andsecond distal position to any one of the alternative distal positions(h1, h2, h3), and thereby adjusting the compressed staple height ofcorresponding fired staples (702). While in the current example, threealternative distal positions (h1, h2, h3) are used, any suitable numberof alternative distal positions may be implemented as would be apparentto one having ordinary skill in the art in view of the teachings herein.For example, control circuit (117) may have five, ten, twenty, thirty,or fifty alternative distal positions to choose from.

First, a clinician may capture tissue from a first tubular anatomicalstructure (T1) and a second tubular anatomical structure (T1) as shownin FIGS. 49A-49C, and as described above. As described above, controlcircuit (117) may communicate to a clinician via graphical userinterface (116) whether the gap distance (d) between proximal surfaceand distally presented deck (642) is suitable.

Control circuit (117) may then request a staple compression height inputfrom the operator via graphical user interface (116), such that controlcircuit (117) receives staple compression height from an operator (802);and/or control circuit (117) may receive instrument feedback (804) toindicate/recommend a suggested custom staple compression height (806)via graphical user interface (116), and then control circuit (117) mayreceive a confirmation of suggested staple compression height from theoperator (808) via graphical user interface (116). In other words,control circuit (117) may give a clinician the options of selectingtheir own custom staple compression height or selecting a recommendedcustom staple compression height based on instrument feedback. It shouldbe understood, as described above, that the custom staple compressionheight may be different for the outer annular array of staples, theinner annular array of staples, or any other suitablecombination/pattern in which staples (702) are independently fired.

Control circuit (117) may calculate a suggested custom staplecompression height based on any suitable information that would beapparent to one having ordinary skill in the art in view of theteachings herein. For instance, control circuit (117) may calculate asuggested custom staple compression height based on gap distance (d),the load on (118) to actuate trocar assembly (300) to create such gapdistance (d), other input into control circuit (117) from graphical userinterface (116), such that the type of tissue being operated on, etc.

Once the selected custom staple compression height is received bycontrol circuit (117), control circuit (117) may modify the firingalgorithm to change the first distal position and the second distalposition corresponding with selected staple compression heights. Withfirst and second distal positions properly modified, control circuit(117) is ready to receive the firing command and initiate the firingsequence (810), in accordance with the description above.

With the firing sequence initiated, control circuit (117) may trackdistal linear movement of driver assembly (812) until driving member(420) reaches the first modified distal position. As this point, staples(702) of outer annular array of staples should be fired against anvil(600) to form the desired staple compression height as selected by theclinician. Next, control circuit (117) may reverse linear movement ofreciprocating driver assembly (400) upon reaching the predeterminedrange of travel (814), as indicated by encoder (115), to the secondproximal position. Control circuit (117) may repeat steps (812) and(814) with the second distal position to form the inner annular array ofstaple (702) at the desired staple compression height selected by theclinician.

Therefore, a clinician may be able to choose a custom staple compressionheight for a first array of staples (702) fired, and a second customstaple compression height for a second array of staples (702) fired.

IV. Exemplary Alternative Circular Stapler End Effector with TranslatingDeck Member

In some instances, as staples exit the deck of a stapling head assembly,the staples may not form properly due to lack of adequate lateralsupport as the staples exit the deck. In the case of deck member (640)described above, this issue may be addressed by the presence of tissuegrasping protrusions (648), which may assist in guiding and laterallysupporting staples as the staples exit deck member (640) en route towardanvil (600). It may be desirable to provide additional lateral supportto the staples, regardless of whether tissue grasping portions (648) areincluded on the deck member. An exemplary alternative configuration forproviding additional support to staples as the staples exit the deckmember is described below.

FIGS. 62A-62B depict an exemplary alternative circular stapler endeffector (1000) that may be incorporated into a circular stapler shaftassembly such as shaft assembly (120) or shaft assembly (156). Endeffector (1000) of this example comprises an anvil (1010) and a staplinghead assembly (1020). Anvil (1010) is configured and operable just likeanvil (600) described above. For instance, anvil (1010) includes aproximally facing surface (1012) that includes staple forming pocketslike stapling forming pockets (606, 608) described above. Anvil (1010)is secured to a trocar (1030), such that trocar (1030) is operable todrive anvil (1010) toward and away from stapling head assembly (1020).

Stapling head assembly (1020) includes a distal housing (1021), a deckmember (1022), a staple driver (1024), and a circular knife member(1026). Except as otherwise described below, deck member (1022) issubstantially similar to deck member (640) described above. Forinstance, deck member (1022) includes an upper surface (1042) defining aplurality of staple openings just like staple openings (644, 645)described above. Unlike deck member (640), deck member (1022) of thisexample is configured to translate relative to distal housing, asdescribed below.

Staple driver (1024) of this example comprises a plurality of stapledriving members (1044) that are operable to drive respective staples(not shown) through the staple openings of deck member (1022), towardthe staple forming pockets on proximally facing surface (1012) of anvil(1010). Unlike the example described above where a separate stapledriver (750) and staple driver assembly (770) are used to drive staplesin different annular rows in a sequence, staple driver (1024) of thepresent example is configured to drive staples in two annular rowssimultaneously. Alternatively, staple driver (1024) may drive one or atleast three annular rows of staples. As another merely illustrativevariation, end effector (1000) may include more than one staple drivingfeature, such as a combination like staple driver (750) and stapledriver assembly (770).

In the present example, staple driver (1024) is configured to engagedeck member (1022) temporarily as staple driver (1024) translates from aproximal position (FIG. 62A) to a distal position (FIG. 62B); and asstaple driver (1024) translates from the distal position (FIG. 62B) backto the proximal position (FIG. 62A). When staple driver (1024) is in theproximal position, all the staples are fully recessed relative to uppersurface (1042) of deck member (1022). When stapling head assembly (1020)is actuated to sever tissue and drive staples through the tissue, stapledriver (1024) will translate distally through a first range of motion, asecond range of motion, and a third range of motion. As staple driver(1024) translates distally through the first range of motion, deckmember (1022) remains stationary, and all the staples that are disposedon staple driving members (1044) translate distally such that the distalportions of the legs of each staple eventually protrude through theopenings in upper surface (1042) of deck member (1022). As staple driver(1024) translates distally through the second range of motion, stapledriver (1024) engages deck member (1022) such that staple driver (1024),deck member (1022), and the staples all translate together distallytoward anvil (1010). As staple driver (1024) translates distally throughthe third range of motion, deck member (1022) stops translating suchthat staple driver (1024) and the staples continue translating towardanvil (1010) while deck member (1022) remains stationary. At the end ofthe third range of motion, end effector (1000) will be configured asshown in FIG. 62B, with deck member (1022) distally positioned and withstaple driver (1024) further distally positioned. The staples areomitted from FIG. 62B for clarity.

As staple driver (1024), deck member (1022), and the staples alltranslate together distally toward anvil (1010) through the second rangeof motion, the staples may begin to engage the staple forming pockets onsurface (1012) of anvil (1010). This engagement may provide the initialformation of the staple legs. During this initial staple formation, deckmember (1022) may provide lateral support to the staples to ensure thatthe staples are all guided with the proper orientation toward theirrespective staple forming pockets in anvil (1010). After deck member(1022) provides this initial guidance, the staples may complete theirformation during the third range of motion. As shown in FIG. 62B, stapledriving members (1044) are located distal to upper surface (1042) ofdeck member (1022), such that all of the corresponding staples are alsolocated distal to upper surface (1042) of deck member (1022) at the endof the third range of motion.

After reaching the end of the third range of motion, staple driver(1024) may be retracted proximally back toward the proximal positionshown in FIG. 62A. Along the way, staple driver (1024) may re-engagedeck member (1022) and pull deck member (1022) back to the proximalposition shown in FIG. 62A.

There are numerous structural features that may be employed to provideengagement between staple driver (1024) and deck member (1022) as stapledriver (1024) moves through the second range of motion; anddisengagement of staple driver (1024) from deck member (1022) as stapledriver (1024) moves through the third range of motion. By way of exampleonly, staple driver (1024) and deck member (1022) may have complementarydetent features that provide this selective engagement. As anothermerely illustrative example, staple driver (1024) and deck member (1022)may have complementary features that provide an interference orfrictional fit to provide the selective engagement. Other suitablefeatures that may be used to provide the selective engagement will beapparent to those of ordinary skill in the art in view of the teachingsherein. In addition, distal housing (1021) may include a boss feature orother feature that promotes disengagement between staple driver (1024)and deck member (1022) as staple driver (1024) transitions from thesecond range of motion to the third range of motion.

V. Exemplary Combinations

The following examples relate to various non-exhaustive ways in whichthe teachings herein may be combined or applied. The following examplesare not intended to restrict the coverage of any claims that may bepresented at any time in this application or in subsequent filings ofthis application. No disclaimer is intended. The following examples arebeing provided for nothing more than merely illustrative purposes. It iscontemplated that the various teachings herein may be arranged andapplied in numerous other ways. It is also contemplated that somevariations may omit certain features referred to in the below examples.Therefore, none of the aspects or features referred to below should bedeemed critical unless otherwise explicitly indicated as such at a laterdate by the inventors or by a successor in interest to the inventors. Ifany claims are presented in this application or in subsequent filingsrelated to this application that include additional features beyondthose referred to below, those additional features shall not be presumedto have been added for any reason relating to patentability.

Example 1

An apparatus, the apparatus comprising: (a) a body assembly; (b) a shaftassembly comprising: (i) an outer sheath, and (ii) a motorized drivingmechanism slidably housed within the outer sheath, wherein the bodyassembly is configured to actuate the driving mechanism; (c) an endeffector, wherein the end effector comprises: (i) a staple deck defininga plurality of staple openings housing a plurality of staples, whereineach staple opening in the plurality of staple openings houses a staple,wherein the staple deck is fixed to the shaft assembly, (ii) an anvilconfigured to deform the plurality of staples, (iii) a first stapledriver coupled with the driving mechanism, wherein the first stapledriver is configured to fire a first annular array of staples of theplurality of staples against the anvil to deform the first annular arrayof staples at a first compressed staple height, and (iv) a second stapledriver coupled with the driving mechanism, wherein the second stapledriver is configured to fire a second annular array of staples of theplurality of staples against the anvil to deform the second annulararray of staples at a second compressed staple height independent of thefirst staple driver, wherein the first compressed staple height and thesecond compressed staple height are different.

Example 2

The apparatus of Example 1, wherein the staple deck houses the pluralityof staples in an arcuate pattern.

Example 3

The apparatus of Example 2, wherein the arcuate pattern comprises anouter annular row of staple openings and an inner annular row of stapleopenings.

Example 4

The apparatus of any one or more of Examples 1 through 3, wherein theshaft assembly is configured to removably couple with the body assembly.

Example 5

The apparatus of any one or more of Examples 1 through 4, wherein themotorized driving mechanism is configured to actuate the first stapledriver a first advancement length to form the first compressed stapleheight, wherein the driving mechanism is configured to actuate thesecond staple driver a second advancement length to form the secondcompressed staple height, wherein the first advancement length and thesecond advancement length are different.

Example 6

The apparatus of Example 5, wherein the driving mechanism comprises adistally presented driving fork, wherein the distally presented drivingfork is configure to rotate from a first angular position to a secondangular position.

Example 7

The apparatus of Example 6, wherein the distally presented driving forkis configured to drive the first stapler driver in the first angularposition, wherein the distally presented driving fork is configured todriver the second stapler driver in the second angular position.

Example 8

The apparatus of Example 7, wherein the shaft assembly further defines aguide channel configured to rotate the distally presented driving forkbased on a longitudinal position of the distally presented driving forkrelative to the outer sheath.

Example 9

The apparatus of any one or more of Examples 1 through 8, wherein thebody assembly comprises a control circuit configured to determine thefirst compressed staple height and the second compressed staple height.

Example 10

The apparatus of Example 9, wherein the body assembly further comprisesa graphical user interface in communication with the control circuit,wherein the graphical user interface is configured to receive a userinput, wherein the user input is configured to determine the firstcompressed staple height and the second compressed staple height.

Example 11

The apparatus of Example 10, wherein the graphical user interface isconfigured to present a recommended first compressed staple height and arecommended second compressed staple height.

Example 12

The apparatus of any one or more of Examples 9 through 11, wherein thebody assembly comprises a linear driver configured to actuate thedriving mechanism.

Example 13

The apparatus of Example 12, wherein the body assembly comprises asensor configured to determine the longitudinal position of the lineardriver.

Example 14

The apparatus of any one or more of Examples 12 through 13, wherein thelinear driver is configured to move through a first reciprocation stroketo drive the first staple driver distally, wherein the linear driver isconfigured to move through a second reciprocation stroke to drive thesecond staple driver distally.

Example 15

The apparatus of Example 14, wherein the end effector further comprisesa knife member operable to sever tissue, wherein the linear driver isfurther configured to move through a third reciprocation stroke to drivethe knife member distally.

Example 16

An apparatus, the apparatus comprising: (a) a body assembly comprising:(i) a motorized actuation member, (ii) a control circuit incommunication with the motorized actuation member, and (iii) a positionsensor in communication with the control circuit, wherein the positionsensor is configured to determine a position of the motorized actuationmember; and (b) a shaft assembly comprising: (i) a staple deck definingat least one annular array of staple openings, wherein each stapleopening in the plurality of staple openings is associated with acorresponding staple, (ii) a first staple driver, wherein the motorizedactuation member is configured to actuate the first staple driver tofire a first staple at a first compressed staple height, and (iii) asecond staple driver, wherein the motorized actuation member isconfigured to actuate the second staple driver to first a second stapleat a second compressed staple height, wherein the first compressedstaple height is different than the second compressed staple height.

Example 17

The apparatus of Example 16, wherein the control circuit is configuredto generate the first compressed staple height and the second compressedstaple height.

Example 18

The apparatus of any one or more of Examples 16 through 17, wherein thecontrol circuit is configured to generate the first compressed stapledheight and the second compressed staple height based on information fromthe position sensor.

Example 19

The apparatus of any one or more of Examples 16 through 18, wherein themodular shaft assembly comprises an intermediate drive shaft configuredto selectively couple the motorized actuation member with the firststaple driver and the second staple driver.

Example 20

An apparatus, the apparatus comprising: (a) a motorized actuationmember; (b) an end effector comprising: (i) a first annular array ofstaples, (ii) a second annular array of staples, (ii) a first stapledriver, wherein the motorized actuation member is configured to actuatethe first staple driver to fire the first annular array of staples at afirst compressed staple height, and (iii) a second staple driver,wherein the motorized actuation member is configured to actuate thesecond staple driver to fire the second annular array of staples at asecond compressed staple height, wherein the first compressed stapleheight is different than the second compressed staple height; whereinthe motorized actuation member is operable to drive the second stapledriver independently of the second staple driver in a sequence.

VI. Miscellaneous

Any of the versions of instruments described herein may include variousother features in addition to or in lieu of those described above. Byway of example only, any of the instruments described herein may alsoinclude one or more of the various features disclosed in any of thevarious references that are incorporated by reference herein. It shouldalso be understood that the teachings herein may be readily applied toany of the instruments described in any of the other references citedherein, such that the teachings herein may be readily combined with theteachings of any of the references cited herein in numerous ways. Othertypes of instruments into which the teachings herein may be incorporatedwill be apparent to those of ordinary skill in the art.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8154USNP.0645301], entitled “Apparatus and Method to Determine End ofLife of Battery Powered Surgical Instrument,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8154USNP.0645301] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8155USNP.0645303], entitled “Surgical Instrument with Integrated andIndependently Powered Displays,” filed on even date herewith, thedisclosure of which is incorporated by reference herein. Varioussuitable ways in which the teachings herein may be combined with theteachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8155USNP.0645303] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8156USNP.0645305], entitled “Battery Pack with Integrated CircuitProviding Sleep Mode to Battery Pack and Associated SurgicalInstrument,” filed on even date herewith, the disclosure of which isincorporated by reference herein. Various suitable ways in which theteachings herein may be combined with the teachings of U.S. Pat. App.No. [ATTORNEY DOCKET NO. END8156USNP.0645305] will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8157USNP.0645308], entitled “Battery Powered Surgical Instrument withDual Power Utilization Circuits for Dual Modes,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8157USNP.0645308] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8158USNP.0645310], entitled “Powered Surgical Instrument withLatching Feature Preventing Removal of Battery Pack,” filed on even dateherewith, the disclosure of which is incorporated by reference herein.Various suitable ways in which the teachings herein may be combined withthe teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8158USNP.0645310] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8159USNP.0645320], entitled “Modular Powered Electrical Connectionfor Surgical Instrument with Features to Prevent Electrical Discharge”filed on even date herewith, the disclosure of which is incorporated byreference herein. Various suitable ways in which the teachings hereinmay be combined with the teachings of U.S. Pat. App. No. [ATTORNEYDOCKET NO. END8159USNP.0645320] will be apparent to those of ordinaryskill in the art in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8160USNP.0645322], entitled “Powered Surgical Instrument withIndependent Selectively Applied Rotary and Linear Drivetrains,” filed oneven date herewith, the disclosure of which is incorporated by referenceherein. Various suitable ways in which the teachings herein may becombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8160USNP.0645322] will be apparent to those of ordinary skill in theart in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8161USNP.0645357], entitled “Powered Circular Stapler withReciprocating Drive Member to Provide Independent Stapling and Cuttingof Tissue,” filed on even date herewith, the disclosure of which isincorporated by reference herein. Various suitable ways in which theteachings herein may be combined with the teachings of U.S. Pat. App.No. [ATTORNEY DOCKET NO. END8161USNP.0645357] will be apparent to thoseof ordinary skill in the art in view of the teachings herein.

In addition to the foregoing, the teachings herein may be readilycombined with the teachings of U.S. Pat. App. No. [ATTORNEY DOCKET NO.END8162USNP.0645359], entitled “Surgical Instrument Handle Assembly withFeature to Clean Electrical Contacts at Modular Shaft Interface,” filedon even date herewith, the disclosure of which is incorporated byreference herein. Various suitable ways in which the teachings hereinmay be combined with the teachings of U.S. Pat. App. No. [ATTORNEYDOCKET NO. END8162USNP.0645359] will be apparent to those of ordinaryskill in the art in view of the teachings herein.

It should also be understood that any ranges of values referred toherein should be read to include the upper and lower boundaries of suchranges. For instance, a range expressed as ranging “betweenapproximately 1.0 inches and approximately 1.5 inches” should be read toinclude approximately 1.0 inches and approximately 1.5 inches, inaddition to including the values between those upper and lowerboundaries.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool withUltrasound Cauterizing and Cutting Instrument,” published Aug. 31, 2004,the disclosure of which is incorporated by reference herein.

Versions described above may be designed to be disposed of after asingle use, or they can be designed to be used multiple times. Versionsmay, in either or both cases, be reconditioned for reuse after at leastone use. Reconditioning may include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, someversions of the device may be disassembled, and any number of theparticular pieces or parts of the device may be selectively replaced orremoved in any combination. Upon cleaning and/or replacement ofparticular parts, some versions of the device may be reassembled forsubsequent use either at a reconditioning facility, or by an operatorimmediately prior to a procedure. Those skilled in the art willappreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

I/We claim:
 1. An apparatus, the apparatus comprising: (a) a bodyassembly; (b) a shaft assembly comprising: (i) an outer sheath, and (ii)a motorized driving mechanism slidably housed within the outer sheath,wherein the body assembly is configured to actuate the drivingmechanism; (c) an end effector, wherein the end effector comprises: (i)a staple deck defining a plurality of staple openings housing aplurality of staples, wherein each staple opening in the plurality ofstaple openings houses a staple, wherein the staple deck is fixed to theshaft assembly, (ii) an anvil configured to deform the plurality ofstaples, (iii) a first staple driver coupled with the driving mechanism,wherein the first staple driver is configured to fire a first annulararray of staples of the plurality of staples against the anvil to deformthe first annular array of staples at a first compressed staple height,and (iv) a second staple driver coupled with the driving mechanism,wherein the second staple driver is configured to fire a second annulararray of staples of the plurality of staples against the anvil to deformthe second annular array of staples at a second compressed staple heightindependent of the first staple driver, wherein the first compressedstaple height and the second compressed staple height are different. 2.The apparatus of claim 1, wherein the staple deck houses the pluralityof staples in an arcuate pattern.
 3. The apparatus of claim 2, whereinthe arcuate pattern comprises an outer annular row of staple openingsand an inner annular row of staple openings.
 4. The apparatus of claim1, wherein the shaft assembly is configured to removably couple with thebody assembly.
 5. The apparatus of claim 1, wherein the motorizeddriving mechanism is configured to actuate the first staple driver afirst advancement length to form the first compressed staple height,wherein the driving mechanism is configured to actuate the second stapledriver a second advancement length to form the second compressed stapleheight, wherein the first advancement length and the second advancementlength are different.
 6. The apparatus of claim 5, wherein the drivingmechanism comprises a distally presented driving fork, wherein thedistally presented driving fork is configure to rotate from a firstangular position to a second angular position.
 7. The apparatus of claim6, wherein the distally presented driving fork is configured to drivethe first stapler driver in the first angular position, wherein thedistally presented driving fork is configured to driver the secondstapler driver in the second angular position.
 8. The apparatus of claim7, wherein the shaft assembly further defines a guide channel configuredto rotate the distally presented driving fork based on a longitudinalposition of the distally presented driving fork relative to the outersheath.
 9. The apparatus of claim 1, wherein the body assembly comprisesa control circuit configured to determine the first compressed stapleheight and the second compressed staple height.
 10. The apparatus ofclaim 9, wherein the body assembly further comprises a graphical userinterface in communication with the control circuit, wherein thegraphical user interface is configured to receive a user input, whereinthe user input is configured to determine the first compressed stapleheight and the second compressed staple height.
 11. The apparatus ofclaim 10, wherein the graphical user interface is configured to presenta recommended first compressed staple height and a recommended secondcompressed staple height.
 12. The apparatus of claim 9, wherein the bodyassembly comprises a linear driver configured to actuate the drivingmechanism.
 13. The apparatus of claim 12, wherein the body assemblycomprises a sensor configured to determine the longitudinal position ofthe linear driver.
 14. The apparatus of claim 12, wherein the lineardriver is configured to move through a first reciprocation stroke todrive the first staple driver distally, wherein the linear driver isconfigured to move through a second reciprocation stroke to drive thesecond staple driver distally.
 15. The apparatus of claim 14, whereinthe end effector further comprises a knife member operable to severtissue, wherein the linear driver is further configured to move througha third reciprocation stroke to drive the knife member distally.
 16. Anapparatus, the apparatus comprising: (a) a body assembly comprising: (i)a motorized actuation member, (ii) a control circuit in communicationwith the motorized actuation member, and (iii) a position sensor incommunication with the control circuit, wherein the position sensor isconfigured to determine a position of the motorized actuation member;and (b) a shaft assembly comprising: (i) a staple deck defining at leastone annular array of staple openings, wherein each staple opening in theplurality of staple openings is associated with a corresponding staple,(ii) a first staple driver, wherein the motorized actuation member isconfigured to actuate the first staple driver to fire a first staple ata first compressed staple height, and (iii) a second staple driver,wherein the motorized actuation member is configured to actuate thesecond staple driver to first a second staple at a second compressedstaple height, wherein the first compressed staple height is differentthan the second compressed staple height.
 17. The apparatus of claim 16,wherein the control circuit is configured to generate the firstcompressed staple height and the second compressed staple height. 18.The apparatus of claim 16, wherein the control circuit is configured togenerate the first compressed stapled height and the second compressedstaple height based on information from the position sensor.
 19. Theapparatus of claim 16, wherein the modular shaft assembly comprises anintermediate drive shaft configured to selectively couple the motorizedactuation member with the first staple driver and the second stapledriver.
 20. An apparatus, the apparatus comprising: (a) a motorizedactuation member; and (b) an end effector comprising: (i) a firstannular array of staples, (ii) a second annular array of staples, (iii)a first staple driver, wherein the motorized actuation member isconfigured to actuate the first staple driver to fire the first annulararray of staples at a first compressed staple height, and (iv) a secondstaple driver, wherein the motorized actuation member is configured toactuate the second staple driver to fire the second annular array ofstaples at a second compressed staple height, wherein the firstcompressed staple height is different than the second compressed stapleheight; wherein the motorized actuation member is operable to drive thesecond staple driver independently of the second staple driver in asequence.